A 6-DOF humanoid wall-climbing robot with flexible adsorption feet based on negative pressure suction

A wide range of dangerous and special tasks have witnessed the applications of wall-climbing robots, but they still cannot adapt well torough or sloping walls. This paper proposes a 6-DOF (degree of freedom) humanoid wall-climbing robot (HWCR) based on the principle of negative pressure suction. HWCR has the advantages of flexible adsorption feet, strong adaptability, strong anti-subversion performance, and high friction to the wall. We deduce mechanics formulas and carry out a parametric design of the foot structure so that it can meet the requirement of robot wall climbing. We use Fluent to analyze the flow field of the adsorption foot and determine the motor speed that can provide a reliable adsorption force. Using the D-H matrix to plan gait, we also design a compound cycloid-based foot trajectory to reduce the impact between the HWCR and the wall. Experiments on the uneven wall and sloping wall show that the vehicle can walk with an ideal gait, and the resistance value of the servo on each joint is much lower than the critical value, which ensures the smooth movement of the HWCR.     

Montmorillonite-perlite-iron ceramic membranes for the adsorption/removal of As(III) and other constituents from surface water

In this study, ceramic membranes made of montmorillonite, perlite and iron were used to remove As(III) from water. Membranes prepared with 0.0, 0.5, 1.0, and 1.5 wt% of iron content were used to filtrate As(III) synthetic water and surface water solutions. As(III) adsorption capacity and removal efficiency, and other parameters such as cations and anions content, turbidity, pH, electrical conductivity were used to evaluate the membranes' performance. Results show that the As(III) adsorption/removal capacity of membranes was improved by the addition of iron. Adsorption capacity of 7.5 μg As(III)/g and removal efficiency of 97% can be achieved in membranes with 1.0 wt% of iron filings content for surface water; however, a greater amount of iron in the membrane structure limits the adsorption capacity of As(III). Besides the capacity of ceramic membranes to adsorb/remove As(III), membranes were also effective to remove other ions, turbidity, and electrical conductivity from the surface water. The addition of iron to the ceramic membranes enhanced their capacity to remove such surface water constituents. These results are important from the practical viewpoint showing the potential of ceramic membranes for the removal of metalloids and other water constituents. Langmuir isotherm model best described the adsorption process in ceramic membranes, suggesting that adsorption of As(III) happened on a monolayered surface of the ceramic membrane.     

Statistical optimization of operating parameters of microbial electrolysis cell treating dairy industry wastewater using quadratic model to enhance energy generation

The performance of Microbial electrolysis cell (MEC) is affected by several operating conditions. Therefore, in the present study, an optimization study was done to determine the working efficiency of MEC in terms of COD (chemical oxygen demand) removal, hydrogen and current generation. Optimization was carried out using a quadratic mathematical model of response surface methodology (RSM). Thirteen sets of experimental runs were performed to optimize the applied voltage and hydraulic retention time (HRT) of single chambered batch fed MEC operated with dairy industry wastewater. The operating conditions (i.e) an applied voltage of 0.8 V and HRT of 2 days that showed a maximum COD removal response was chosen for further studies. The MEC operated at optimized condition (HRT- 2 days and applied voltage- 0.8 V) showed a COD removal efficiency of 95 ± 2%, hydrogen generation of 32 ± 5 mL/L/d, Power density of 152 mW/cm² and current generation of 19 mA. The results of the study implied that RSM, with its high degree of accuracy can be a reliable tool for optimizing the process of wastewater treatment. Also, dairy industry wastewater can be considered to be a potential source to generate hydrogen and energy through MEC at short HRT.     

Shared human–robot path following control of an unmanned ground vehicle

This paper considers the shared path following control of an unmanned ground vehicle by a single person. A passive measure of human intent is used to blend the human and machine inputs in a mixed initiative approach. The blending law is combined with saturated super-twisting sliding mode speed and heading controllers, so that exogenous disturbances can be counteracted via equivalent control. It is proven that when the proposed blending law is used, the combined control signals from both the human and automatic controller respect the actuator magnitude constraints of the machine. To demonstrate the approach, shared control experiments are performed using an unmanned ground vehicle, which follows a lawn mower pattern shaped path.     

Ion Exchange of Selected Group II Metals and Lead by Crystalline Silicotitanate and Competition for Cs Exchange Sites

ABSTRACT

A series of batch contact tests were conducted to evaluate the exchange behavior of Ba, Ca, Pb, and Sr onto crystalline silicotitanate (CST) in support of an expedited Cs removal and pretreatment system at the Hanford site. Binary Na/M²⁺ and ternary Na/Cs/M²⁺ isotherms were generated to understand selectivity, capacity, and competitive impact of each analyte on Cs uptake from a simple 1 M NaOH/4.6 M NaNO₃ simulant. Analyte loading from a 0.1 M NaOH/5.5 M NaNO₃ simulant was assessed to determine the effect of hydroxide concentration on binary Na/M²⁺ isotherms. Results from binary and ternary isotherms indicated that Group II metals Ca, Sr, and Ba (and Pb) do not impact CST performance toward Cs removal at concentrations expected in Hanford tank-waste supernate.     

基于旋翼负压混合吸附的爬壁清洗机器人系统动力学性能研究

针对爬壁清洗机器人越障时,负压装置的吸附力下降导致吸附不稳定的问题,设计了一种旋翼负压混合吸附工作的多边形履带清洗机器人,并对爬行稳定性及越障性能进行了动力学分析。首先根据机器人爬壁的运动原理,建立机器人沿玻璃幕墙上的动力学模型,计算出电机理论驱动力矩;其次分析机器人在跨越障碍过程中的运动模型,结合与壁面接触的实际受力状态,对越障过程中关键阶段的本体倾翻、滑移两种失效形式进行运动学和动力学分析;然后根据玻璃幕墙实际的障碍高度,确定多边形履带的参数和理论驱动力矩的大小,并研制了实验样机进行爬行和越障试验,结果表明所设计的机器人具有良好的越障性能。     

位阻胺选择性配方溶剂尾气处理装置工业应用

为了解决常规甲基二乙醇胺(MDEA)脱硫溶剂在低压下脱硫效果不理想,导致排放尾气中SO_2浓度升高的问题,利用位阻胺与H_2S反应具有良好活性、同时能较好抑制位阻胺与CO_2反应的特点,研究开发出了位阻胺选择性脱硫配方溶剂,并在处理量为1×10~4m~3/d的装置上进行中间放大试验的基础上,在中国石油西南油气田公司川中油气矿龙岗天然气净化厂硫磺回收加氢尾气脱硫装置上进行了工业应用。在工业应用期间,考察了溶剂在不同吸收塔板数、不同贫液入塔温度、不同溶液循环量等条件下的吸收性能,还考察了脱硫溶液的再生性能,确定了较适宜的工艺操作参数。应用1年后的考核结果表明:(1)该位阻胺选择性脱硫配方溶剂在进尾气脱硫吸收塔气体中H_2S含量为0.77%～3.96%、CO_2含量为23.91%～32.79%的气质条件下,可使净化尾气中H_2S含量低于30 mg/m~3;(2)与装置原用的常规MDEA相比,净化尾气中H_2S含量降低58.45%;(3)该位阻胺选择性脱硫配方溶剂的再生性能良好,再生后贫液中H_2S和CO_2含量均小于0.12 g/L。     

新型树启发式搜索算法的机器人路径规划

面对三维空间移动机器人从起始点到终止点的最短路径问题,提出一种新型的边缘点树启发式搜索(TreeEP)算法,该方法将地图空间进行密度可调的三维离散化处理,根据障碍安全距离筛选出障碍物的可靠边缘点信息,再利用树扩散架构选出最能引导搜索方向的潜力点进行扩散搜索,最终得出最短路径。提出局部调整策略,得到改进的Tree-EP算法。实验结果表明,在带障碍复杂地形最短路径搜索应用中,提出的Tree-EP算法与已有方法相比,能找到更短的移动路径。     

单晶SiC的电助光催化抛光及去除机理

为满足电子半导体等领域对SiC超光滑、无损伤和材料高效去除的要求，提出了电助光催化抛光SiC的新方法。研究了光催化剂种类及其pH值对抛光液氧化性和抛光效果的影响，讨论了材料的去除机理。结果表明：以p25型TiO2为光催化剂配制抛光液所获得的最大氧化还原电位为633.11 mV，材料去除率为1.18 μm/h，表面粗糙度Ra=0.218 nm；抛光后SiC表面氧化产物中，Si-C-O、Si-O和Si4C4O4的含量明显增加，SiC表面被氧化并被机械去除是主要的材料去除方式。