Co?N graphene encapsulated cobalt catalyst for H2O2 decomposition under acidic conditions

Hydrogen peroxide (H₂O₂) has been listed as one of the 100 most important chemicals in the world. However, huge amount of residual H₂O₂ is hard to timely decomposed into O₂ and H₂O under acidic condition, easily resulting in explosion hazard. Here, we reported a core–shell structure catalyst, that is graphene with Co N structure encapsulated Co nanoparticles. Co N graphene shell serves as the active site for the H₂O₂ decomposition, and Co core further enhance this decomposition. Benefiting from it, the H₂O₂ decomposition were close to 100% after 6 cycles without pH adjustment, which increased 6 orders of magnitude compared with no catalyst. At the same time, the O₂ generation reached 99.67% in 2 h with little metal leaching, and ·OH has been greatly inhibited to only 0.08%. This work can cleanly remove H₂O₂ with little deep oxidation and protect the process of H₂O₂ utilization to achieve a safer world.     

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.     

稳产国Ⅵ柴油并兼产喷气燃料技术方案的工业应用

介绍了浙江石油化工有限公司新建的3 Mt/a柴油加氢精制装置，其配套使用中国石化石油化工科学研究院有限公司开发的催化剂级配技术，并实施了可根据原料供应及市场产品需求情况灵活调整切换的2种生产技术方案。1 a的安稳生产运行结果表明:该装置以直馏柴油为主原料，通过分馏塔的馏分切割及其侧线抽出，实现了稳产国Ⅵ柴油并兼产喷气燃料技术方案的工业化应用；在实施以兼产喷气燃料为主的生产技术方案时，通过调整常一线柴油的掺炼量，不仅可以生产含硫量小于10.0 μg/g的精制柴油产品，同时兼产所得到的喷气燃料产品含硫量小于0.5 μg/g，赛波特颜色号值大于30；在实施主产精制柴油组分方案时，通过掺炼质量分数为20%~40%的催化柴油，并使所提炼得到的精制柴油组分含硫量小于6.0 μg/g的前提下，这些精制柴油组分产品既可直接作为满足国Ⅵ柴油产品出厂待售，也可作为柴油调和组分储存待用于产品的进一步优化。     

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.     

Towards artificial intelligence at scale in the chemical industry

In the Industry 4.0 era, the chemical industry is embracing broad adoption of artificial intelligence (AI) and machine learning (ML) methods. This article provides a holistic view of how the industry is transforming digitally towards AI at scale. First, a historical perspective on how the industry used AI to aid humans in better decision-making is shown. Then state-of-the-art AI research addressing industrial needs on reliability and safety, process optimization, supply chain, material discovery, and reaction engineering is highlighted. Finally, a vision of the plant of the future is illustrated with critical components of AI-ready culture, model life cycle management, and renewed role of humans in chemical manufacturing.     

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。     

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。     

Nature inspired supply chain solutions: definitions,analogies, and future research directions

ABSTRACT

Supply chains are becoming increasingly complex, and many companies and researchers are looking to nature for finding solutions. In this paper, we provide a narrative synthesis and systematic review to explore state-of-the-art, and identify key areas for exploration of nature inspired solutions in the supply chain area. We consider strategic, tactical, and operational decisions within supply chains and identify analogies between biological systems and supply chains to create a new research agenda. Our findings show that the majority of the research in nature inspired supply chains from the systemic perspective focuses on closed loop supply chains. In contrast, similar systemic solutions such as industrial symbiosis, circular economy, and industrial ecology have not been explored as frequently. Reducing production waste (industrial symbiosis) in addition to end-of-life product waste (closed loop supply chains), optimising raw material use and extending the life of used resources (circular economy), investigating the interactions between biosphere and technosphere (industrial ecology), and seeking solutions to industrial problems from nature (biomimicry) are all possible paths for reaching a zero-waste economy. These systemic solutions have a considerable impact on the supply chains at the strategic, tactical, and operational levels, which need to be explored to identify efficient and effective solutions.     

基于机器视觉的机车齿轮毂全自动双轴拧紧机的设计和应用

设计了基于机器视觉的机车齿轮毂全自动双轴拧紧机,根据拧紧工艺和扭矩控制原理实现对螺栓拧紧力矩的控制;通过丝杠变径机构,实现不同规格齿轮毂螺栓拧紧;利用机器视觉实现螺栓位置的识别以及初始位置的确定;讨论了自动拧紧机控制系统的硬件组成和软件系统配置,并介绍了防错、防漏功能的设计流程。螺栓自动拧紧机可提高装配精度和操作效率,降低工人的劳动强度。