The mining industry is the major producer of acid mine drainage (AMD). The problem of AMD concerns at active and abandoned mine sites. Acid mine drainage needs to be treated since it can contaminate surface water. Constructed wetlands (CW), a passive treatment technology, combines naturally-occurring biogeochemical, geochemical, and physical processes. This technology can be used for the long-term remediation of AMD. The challenge is to overcome some factors, for instance, chemical characteristics of AMD such a high acidity and toxic metals concentrations, to achieve efficient CW systems. Design criteria, conformational arrangements, and careful selection of each component must be considered to achieve the treatment. The main objective of this review is to summarize the current advances, applications, and the prevalent difficulties and opportunities to apply the CW technology for AMD treatment. According to the cited literature, sub-surface CW (SS-CW) systems are suggested for an efficient AMD treatment. The synergistic interactions between CW components determine heavy metal removal from water solution. The microorganism-plant interaction is considered the most important since it implies symbiosis mechanisms for heavy metal removal and tolerance. In addition, formation of litter and biofilm layers contributes to heavy metal removal by adsorption mechanisms. The addition of organic amendments to the substrate material and AMD bacterial consortium inoculation are some of the strategies to improve heavy metal removal. Adequate experimental design from laboratory to full scale systems need to be used to optimize equilibria between CW components selection and construction and operational costs. The principal limitations for CW treating AMD is the toxicity effect that heavy metals produce on CW plants and microorganisms. However, these aspects can be solved partially by choosing carefully constructed wetlands components suitable for the AMD characteristics. From the economic point of view, a variety of factors affects the cost of constructed wetlands, such as: detention time, treatment goals, media type, pretreatment type, number of cells, source, and availability of gravel media, and land requirements, among others.

In this research, ultrasound (US; 26 kHz) application was evaluated as tertiary treatment of treated municipal wastewater coming from conventional activated sludge (AS) and constructed wetland (CW) systems. The degree of disinfection was evaluated through the total (TC) and faecal (FC) coliforms and by somatic coliphages (SCs) determinations. The experiments were carried out without temperature control at times of 200, 400 and 600 s and with temperature control (298.1 K) at 600, 1200 and 1800 s. Changes in the concentrations of C, N and P were also studied. The results shown that treatment without temperature control allowed 100% inactivation for TC, FC and SC at 600 s, while maximum with temperature was achieved at 1800 s. Temperature was an important factor influencing pathogens inactivation. In both cases, microorganism concentrations complied with different international guidelines for the reuse of treated wastewater. At 1800 s sonication concentrations of biochemical oxygen demand, chemical oxygen demand and total phosphorus were reduced 39.5, 39.4, 50.0 and 37.3% TN in the AS-treated water and 24.0, 49.8, 20.2 and 7.7% in the CW-treated water, respectively. In both cases, the formation of $\text{H}\cdot$ and $\text{OH}\cdot$ radicals is most likely related to the observed pollutants removal. While energy consumption of ultrasound was higher than other advanced treatments such as electrocoagulation, its implementation allows the simultaneous removal of pathogens and organic pollutants without the generation of toxic by-products. In conclusion, ultrasound can be implemented as tertiary treatment of municipal wastewater for the removal of biological and organic pollution, according to reuse guidelines in terms of pathogens presence. GRAPHICAL ABSTRACT

A control algorithm that is robust with respect to wind disturbances for a quadrotor UAV attitude dynamics is presented. The proposed approach consists of a high-gain observer based on a discontinuous technique. Such an algorithm is embedded on board the quadrotor. The high-gain observer estimates external disturbances such as wind and parameter uncertainties, and a control algorithm is designed to compensate these undesired effects. The observer design is based on Lyapunov stability theory; simulation results and experiments validate the nonlinear observer performance and robustness of the approach under windy conditions. Also, a photogrammetry survey was carried out to develop Digital Elevation Models in order to experimentally demonstrate the effectiveness of our approach. The accuracy of such models was compared and the performance improvement is demonstrated.