机器人已被广泛应用于日常生活之中。路径规划作为机器人的主要技术之一,优秀的路径规划算法能提升机器人的工作效率、降低其使用成本,并为研究机器人的导航打下良好的基础。RRT(rapidly-exploring random trees)算法具有扩展性强的优点...机器人已被广泛应用于日常生活之中。路径规划作为机器人的主要技术之一,优秀的路径规划算法能提升机器人的工作效率、降低其使用成本,并为研究机器人的导航打下良好的基础。RRT(rapidly-exploring random trees)算法具有扩展性强的优点,但存在路径长度并非最优、光滑性差等不足,为此提出反向寻优和三次样条曲线插值以改进算法,并在MATLAB和ROS(robot operating system)系统中仿真。结果表明:改进后的RRT算法能降低路径长度,减少节点数目,提高光滑性,实现了算法的有效性。展开更多
This study aimed to present a novel clay/biochar composite adsorption particle, which made from abandoned reed straw and clay to remove ammonia nitrogen(NH4^+-N) from micro-contaminated water. The removal performance ...This study aimed to present a novel clay/biochar composite adsorption particle, which made from abandoned reed straw and clay to remove ammonia nitrogen(NH4^+-N) from micro-contaminated water. The removal performance of NH4^+-N by composite adsorption particle was monitored under different raw material proportions and initial NH4^+-N concentration. Besides, adsorption kinetics and adsorption isotherms were investigated to reveal the adsorption mechanisms. The results showed that NH4^+-N was effectively removed under optimal proportion of biochar, foaming agent and crosslinker with 20%, 3%, and 3%, respectively. The optimal contact time was 150 min and the best removal efficiency was 88.6% at initial NH4^+-N concentration of 20 mg L^-1. The adsorption performance was well described by the second order kinetic model and Freundlich model. The novel clay/biochar composite adsorption particle in this study demonstrated a high potential for NH4^+-N removal from surface water.展开更多
文摘机器人已被广泛应用于日常生活之中。路径规划作为机器人的主要技术之一,优秀的路径规划算法能提升机器人的工作效率、降低其使用成本,并为研究机器人的导航打下良好的基础。RRT(rapidly-exploring random trees)算法具有扩展性强的优点,但存在路径长度并非最优、光滑性差等不足,为此提出反向寻优和三次样条曲线插值以改进算法,并在MATLAB和ROS(robot operating system)系统中仿真。结果表明:改进后的RRT算法能降低路径长度,减少节点数目,提高光滑性,实现了算法的有效性。
基金supported by the National Major Project of Water Pollution Control and Management Technology in China (No.2013ZX07202-007)the Shenzhen Science and Technology Project (No.GRCK2017042116092660)the National Natural Science Foundation of China (No.51308066)。
文摘This study aimed to present a novel clay/biochar composite adsorption particle, which made from abandoned reed straw and clay to remove ammonia nitrogen(NH4^+-N) from micro-contaminated water. The removal performance of NH4^+-N by composite adsorption particle was monitored under different raw material proportions and initial NH4^+-N concentration. Besides, adsorption kinetics and adsorption isotherms were investigated to reveal the adsorption mechanisms. The results showed that NH4^+-N was effectively removed under optimal proportion of biochar, foaming agent and crosslinker with 20%, 3%, and 3%, respectively. The optimal contact time was 150 min and the best removal efficiency was 88.6% at initial NH4^+-N concentration of 20 mg L^-1. The adsorption performance was well described by the second order kinetic model and Freundlich model. The novel clay/biochar composite adsorption particle in this study demonstrated a high potential for NH4^+-N removal from surface water.
