The mechanical dewatering of activated sludge is troublesome due to its high compressibility of solids. The dewatering can be enhanced dramatically by the use of electroosmosis,in which an electric field is applied to...The mechanical dewatering of activated sludge is troublesome due to its high compressibility of solids. The dewatering can be enhanced dramatically by the use of electroosmosis,in which an electric field is applied to the sludge cake.In this study,the influence of filter cloth on the cathode on the dewatering of activated sludge was investigated.It was found that thicker filter cloth led to lower water removal from the sludge cake,so a stainless steel cathode net with small pore size instead of filter cloth was applied,which improves the dewatering efficiency and reduces the electric power consumption.Moreover,water absorbent materials were helpful to remove the water from the sludge cake.For the electroosmotic dewatering at 7 kPa and 24 V·cm-1,the water content in the sludge cake decreased to 60%(by mass) with the average 0.075 kW·h·kg-1of water removed by using the cathode net.展开更多
针对现有机载LiDAR(light detection and ranging)点云滤波方法在地形起伏剧烈的林区适用性不足的问题,提出一种多分辨率层次布料模拟滤波方法。首先,通过多尺度形态学开运算选择大量种子地面点;然后,基于种子地面点,使用布料模拟法由...针对现有机载LiDAR(light detection and ranging)点云滤波方法在地形起伏剧烈的林区适用性不足的问题,提出一种多分辨率层次布料模拟滤波方法。首先,通过多尺度形态学开运算选择大量种子地面点;然后,基于种子地面点,使用布料模拟法由低至高逐层构建参考地形,以快速获取高分辨率参考地形;最后,基于点至参考地形的高差区分地面点和非地面点。利用国际摄影测量和遥感学会提供的数据集和参考方法,评估该方法性能。利用在中国、美国多个代表性林区的点云数据,评估该方法的可推广性。结果表明,该方法的Kappa系数和运行时间是83.72%和34.11 s,精度和效率较经典布料模拟滤波方法提高10.49%和52.17%。相比8种参考方法,该方法能够获得更高精度,并且具有稳定的可推广性。展开更多
自动落布车位姿估计的准确性是影响其在纺织车间内同时定位与地图构建(simultaneous localization and mapping,SLAM)的关键因素。在进行自动落布车位姿估计时,遇到观测噪声异常变化或噪声协方差与算法不匹配等情况时,无迹卡尔曼滤波(un...自动落布车位姿估计的准确性是影响其在纺织车间内同时定位与地图构建(simultaneous localization and mapping,SLAM)的关键因素。在进行自动落布车位姿估计时,遇到观测噪声异常变化或噪声协方差与算法不匹配等情况时,无迹卡尔曼滤波(unscented Kalman filter,UKF)难以准确估计小车的位置和姿态。针对此问题,将误差序列协方差估计与遗忘因子同时引入UKF进行改进,提出了一种改进的自适应UKF自动落布车位姿估计算法。通过误差序列协方差估计对观测噪声协方差矩阵R进行调整,引入遗忘因子对R进行自适应更新,进而得到自动落布车位姿的最优估计。实验结果表明,在高斯噪声环境下,改进的UKF算法比其他算法具有更好的鲁棒性和估计精度。改进后的UKF位姿估计算法代入Cartographer算法后建图误差值减小,表明此算法能够在室内复杂环境下达到更加精确的位姿估计。展开更多
基金Supported by Tianjin Application Basis and Advanced Technology Studied Plans(09JCYBJC08200)
文摘The mechanical dewatering of activated sludge is troublesome due to its high compressibility of solids. The dewatering can be enhanced dramatically by the use of electroosmosis,in which an electric field is applied to the sludge cake.In this study,the influence of filter cloth on the cathode on the dewatering of activated sludge was investigated.It was found that thicker filter cloth led to lower water removal from the sludge cake,so a stainless steel cathode net with small pore size instead of filter cloth was applied,which improves the dewatering efficiency and reduces the electric power consumption.Moreover,water absorbent materials were helpful to remove the water from the sludge cake.For the electroosmotic dewatering at 7 kPa and 24 V·cm-1,the water content in the sludge cake decreased to 60%(by mass) with the average 0.075 kW·h·kg-1of water removed by using the cathode net.
文摘针对现有机载LiDAR(light detection and ranging)点云滤波方法在地形起伏剧烈的林区适用性不足的问题,提出一种多分辨率层次布料模拟滤波方法。首先,通过多尺度形态学开运算选择大量种子地面点;然后,基于种子地面点,使用布料模拟法由低至高逐层构建参考地形,以快速获取高分辨率参考地形;最后,基于点至参考地形的高差区分地面点和非地面点。利用国际摄影测量和遥感学会提供的数据集和参考方法,评估该方法性能。利用在中国、美国多个代表性林区的点云数据,评估该方法的可推广性。结果表明,该方法的Kappa系数和运行时间是83.72%和34.11 s,精度和效率较经典布料模拟滤波方法提高10.49%和52.17%。相比8种参考方法,该方法能够获得更高精度,并且具有稳定的可推广性。
