Conversion regular patterns of acetic acid,propionic acid and butyric acid in UASB reactor

On the basis of continuous tests and batch tests, conversion regular patterns of acetate, propionate and butyrate in activated sludge at different heights of the UASB reactor were conducted. Results indicated that the conversion capacity of the microbe is decided by the substrate characteristic when sole VFA is used as the only substrate. But when mixed substrates are used,the conversion regulations would have changed accordingly. Relationships of different substrates vary according to their locations. In the whole reactor, propionate's conversion is restrained by acetate and butyrate of high concentration. On the top and at the bottom of the reactor, conversion of acetate, but butyrate, is restrained by propionate. And in the midst, acetate's conversion is accelerated by propionate while that of butyrate is restrained. It is proved, based on the analysis of specific conversion rate, that the space distribution of the microbe is the main factor that affects substrates' conversion. The ethanol type fermentation of the acidogenic phase is the optimal acid type fermentation for the two phase anaerobic process.

Facile and robust strategy to antireflective photo-curing coating through self-wrinkling

We reported a facile and bio-inspired strategy for obtaining antireflective （AR） coating through polymerization-induced self-wrinkling. Upon irradiation of light, the complex wrinkle micro-patterns with different morphologies were generated spontaneously on the surface of coating during photo-cross- linking, which enables the photo-curing coating can decrease reflection. The resulting photo-curing coating exhibits a high transmittance over 90% and low reflection below 5% ～ 8%, with an efficiency anti- reflection of 4% ～ 7%; compared to the flat blank coating. The successful application of these AR coatings with wrinkles pattern to encapsulate the thin film solar cells results in appreciable photovoltaic performance improvement of more than 4% ～ 8%, which benefits from the decrease of the light reflection and increase of optical paths in the photoactive layer by the introduction of wrinkling pattern. Furthermore, the efficiency improvements of the solar cells are more obvious, with a remarkable increase of 8.5%, at oblique light incident angle than that with vertical light incident angle

A Unified Motion Generation Approach for Quadruped L-S Walk and Trot Gaits Based on Linear Model Predictive Control

The goal of this paper is to develop a unified online motion generation scheme for quadruped lateral-sequence walk and trot gaits based on a linear model predictive control formulation.Specifically,the dynamics of the linear pendulum model is formulated over a predictive horizon by dimensional analysis.Through gait pattern conversion,the lateral-sequence walk and trot gaits of the quadruped can be regarded as unified biped gaits,allowing the dynamics of the linear inverted pendulum model to serve quadruped motion generation.In addition,a simple linearization of the center of pressure constraints for these quadruped gaits is developed for linear model predictive control problem.Furthermore,the motion generation problem can be solved online by quadratic programming with foothold adaptation.It is demonstrated that the proposed unified scheme can generate stable locomotion online for quadruped lateral-sequence walk and trot gaits,both in simulation and on hardware.The results show significant performance improvements compared to previous work.Moreover,the results also suggest the linearly simplified scheme has the ability to robustness against unexpected disturbances.