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Removal of Cr(VI) from aqueous solution by rice husk derived magnetic sorbents
Ruifeng Yang,Shangru Zhai,Yuan Fan,Zhimin Lei,Na Liu,Jialiang Lv,Bin Zhai,Lei Wang 한국화학공학회 2016 Korean Journal of Chemical Engineering Vol.33 No.4
−A novel magnetic porous sorbent obtained from agricultural waste rice husk was successfully synthesized through a simple carbon-thermal method. The sorbent was characterized by scanning electron microscopy, transmission electron microscopy, X-ray diffraction, Fourier transform infrared spectroscopy, vibrating sample magnetometer, N2 sorption analysis, and X-ray photoelectron spectroscopy. The removal efficiency of the sorbent for Cr(VI) was also investigated. Chromium adsorption was fitted by the pseudo-second-order and Langmuir models. The maximum chromium adsorption capacity, Brunauer-Emmett-Teller surface area, and average Barrett-Joyner-Halenda pore size of the magnetic sorbent were 157.7mg·g−1, 134.1m2·g−1, and 4.99 nm, respectively. The saturated magnetization of the novel adsorbent was 77.8 emu·g−1, indicating that the material can facilitate separation and recovery from aqueous systems. The removal mechanisms of Cr(VI) were also discussed. The result illustrates that rice husk-derived magnetic carbonaceous materials are a potential adsorbent for Cr(VI) pollution treatment and provide a suitable method for the effective conversion of biomass waste, which may solve the problem of waste disposal and widen the applications of the materials.
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Research and Improvement on Active Compliance Control of Hydraulic Quadruped Robot
Rui Zhu,Qingjun Yang,Jiaxing Song,Shangru Yang,Yudong Liu,Qi Mao 제어·로봇·시스템학회 2021 International Journal of Control, Automation, and Vol.19 No.5
This paper focuses on active compliance control of hydraulic quadruped robot, especially the analysis of the inner-loop of the coupled system. Current researches on active compliance control regard the bandwidth of the inner loop of the system as infinite, while ignoring that the extra-load will cause the inner-loop response characteristics to deteriorate when the leg is in the stance phase. In this work, we first briefly introduced the structure of the robot, and its kinematics and dynamics are analyzed. Next, the robot’s active compliance control framework is established, and the inner-loop two-cylinder coupling system is analyzed in depth. It can be concluded that the existence of low frequency poles in the system is the main reason for the poor response characteristics. Then through the analysis of the state equation and transfer function matrix of the multi-input multi-output system, we show that the equivalent hydraulic spring stiffness (EHSS) is the main factor affecting the zero-pole distribution. Furthermore, we optimize the structure to increase the EHSS to improve the response characteristics of the system. Finally, the co-simulation platform and single-leg experiment bench are introduced. The simulation and experimental results show that the response speed of the inner-loop control is significantly improved after optimization, and the robot with active compliance control strategies can significantly reduce the impact of the foot.
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