In an embodiment, control is performed to operate a three-way valve in accordance with a reaching ratio of pH adjustment. When process of certain steps is performed, bubbles of ammonia generated in a nebulizer can be extruded by air so as to be injected from an injection port together with aqua ammonia remaining in the nebulizer. Therefore, the pH adjustment can be performed while a large amount of bubbles of ammonia are prevented from being generated in the nebulizer.

In an embodiment, control is performed to operate a three-way valve in accordance with a reaching ratio of pH adjustment. When process of certain steps is performed, bubbles of ammonia generated in a nebulizer can be extruded by air so as to be injected from an injection port together with aqua ammonia remaining in the nebulizer. Therefore, the pH adjustment can be performed while a large amount of bubbles of ammonia are prevented from being generated in the nebulizer.

Provided are a method and an arrangement for operating a metallurgical furnace. The method comprises a feeding step, and a temperature controlling step for controlling the temperature of a molten metal layer and a slag layer in a furnace space of the metallurgical furnace. The temperature controlling step comprises a first measuring step for measuring the slag temperature (T.sub.slag), a second measuring step for measuring the slag liquidus temperature (T.sub.slag, liquidus), and a calculating step for calculating a superheat temperature (T.sub.superheat) by calculating the temperature difference between the slag temperature (T.sub.slag) and the slag liquidus temperature (T.sub.slag, liquidus). In case the calculated superheat temperature (T.sub.superheat) is outside a predefined superheat temperature range (T.sub.superheat set), the method comprises an adjusting step for adjusting to adjust the actual superheat temperature. Also provided are computer program products.

An autonomous driving device includes a first map including a first content and a second content associated with positions respectively, a second map including the first content associated with the position and in which the second content is not a recording target, and a control unit performing the autonomous driving. When the autonomous driving is performed using the first map, the control unit determines information necessary for the autonomous driving using a first method based on the first content and the second content. When the autonomous driving is performed using the second map, the control unit determines the information necessary for the autonomous driving using a method same as the first method based on the first content corresponding to a second position recorded in the second map and information indicating that the second content corresponding to the second position recorded in the second map is not present.

A method of controlling an outlet temperature of a heat exchanger of an aircraft includes operating an air cycle machine at a first operating speed. The air cycle machine is operatively coupled to an air cycle machine bypass valve at a first position. The air cycle machine is fluidly connected to a first heat exchanger disposed adjacent to a second heat exchanger. In response to a second heat exchanger outlet temperature less than a second heat exchanger outlet temperature threshold while the aircraft is operating at an altitude less than an altitude threshold, the method moves the air cycle bypass valve from the first position toward a second position.

Control handover planning for an unmanned aerial vehicle (UAV) is provided that includes determining, by a planning system, a current location of a mobile control system and a current location of the UAV. A target location is identified. A control handover zone is determined based on a communication range constraint between the mobile control system and the UAV. The control handover zone is located between the current location of the mobile control system, the current location of the UAV, and the target location. A mobile control system path plan and a UAV path plan are created that each includes a control handover waypoint in the control handover zone at the same time. The control handover waypoint defines a planned location to place the mobile control system in control of the UAV.

Control handover planning for an unmanned aerial vehicle (UAV) is provided that includes determining, by a planning system, a current location of a mobile control system and a current location of the UAV. A target location is identified. A control handover zone is determined based on a communication range constraint between the mobile control system and the UAV. The control handover zone is located between the current location of the mobile control system, the current location of the UAV, and the target location. A mobile control system path plan and a UAV path plan are created that each includes a control handover waypoint in the control handover zone at the same time. The control handover waypoint defines a planned location to place the mobile control system in control of the UAV.

One embodiment provides a method for monitoring the quality of nanofibrillar cellulose produced in a process comprising disintegrating fibers of cellulose pulp, the method comprising measuring in real-time optically the turbidity of a dispersion containing nanofibrillar cellulose obtained from a disintegrating process, and determining the quality of said produced nanofibrillar cellulose using a correlation between the measured turbidity and said quality of the produced nanofibrillar cellulose, wherein lowered turbidity indicates increased quality of the nanofibrillar cellulose. One embodiment provides a device for monitoring the quality of nanofibrillar cellulose produced in a process comprising disintegrating fibers of cellulose pulp, arranged to carry out said method.

One embodiment provides a method for monitoring the quality of nanofibrillar cellulose produced in a process comprising disintegrating fibers of cellulose pulp, the method comprising measuring in real-time optically the turbidity of a dispersion containing nanofibrillar cellulose obtained from a disintegrating process, and determining the quality of said produced nanofibrillar cellulose using a correlation between the measured turbidity and said quality of the produced nanofibrillar cellulose, wherein lowered turbidity indicates increased quality of the nanofibrillar cellulose. One embodiment provides a device for monitoring the quality of nanofibrillar cellulose produced in a process comprising disintegrating fibers of cellulose pulp, arranged to carry out said method.

Method and system for validating planting of trees. For example, the method includes receiving a first image depicting a tree, receiving a second image depicting an environment where the tree is to be planted, receiving a third image depicting the tree having been planted in the environment, selecting and encoding a first patch of the first image that depicts the tree, selecting and encoding a second patch of the second image that depicts the environment, selecting and encoding a third patch of the third image that depicts both the tree and the environment, and comparing the encoded patches to determine whether the tree has been planted in the environment.