The method of error correction is one of key techniques of parallel robot. A new method of end error correction of 6-HTRT parallel robot is presented for engineering and researching on correlative theory of 6-HTRT par...The method of error correction is one of key techniques of parallel robot. A new method of end error correction of 6-HTRT parallel robot is presented for engineering and researching on correlative theory of 6-HTRT parallel robot. The method need calculate many kinematics equations of parallel robot such as position back solution, velocity Jacobin, position forward solution and error Jacobin. New methods presented for solving these questions are simpler and fitter for programming and calculating, because former methods are too complex to use in engineering. These questions may be solved by iterative method of numerical value which has fast velocity of calculating. These new methods may be used in other mechanism of parallel robot too, and so have wider using value. The experimental results demonstrate that the system may satisfy entirely high technical request and fit for engineering in new measures.展开更多
Octanoic acid（OA） was selected to represent fatty acids in effluent organic matter（EOM）. The effects of feed solution（FS） properties, membrane orientation and initial permeate flux on OA fouling in forward osmo...Octanoic acid（OA） was selected to represent fatty acids in effluent organic matter（EOM）. The effects of feed solution（FS） properties, membrane orientation and initial permeate flux on OA fouling in forward osmosis（FO） were investigated. The undissociated OA formed a cake layer quickly and caused the water flux to decline significantly in the initial 0.5 hr at unadjusted p H 3.56; while the fully dissociated OA behaved as an anionic surfactant and promoted the water permeation at an elevated p H of 9.00. Moreover, except at the initial stage, the sudden decline of water flux（meaning the occurrence of severe membrane fouling） occurred in two conditions： 1.0.5 mmol/L Ca2＋, active layer facing draw solution（AL-DS） and 1.5 mol/L Na Cl（DS）; 2. No Ca2＋,active layer-facing FS（AL-FS） and 4 mol/L Na Cl（DS）. This demonstrated that cake layer compaction or pore blocking occurred only when enough foulants were absorbed into the membrane surface, and the water permeation was high enough to compact the deposit inside the porous substrate. Furthermore, bovine serum albumin（BSA） was selected as a co-foulant.The water flux of both co-foulants was between the fluxes obtained separately for the two foulants at p H 3.56, and larger than the two values at p H 9.00. This manifested that, at p H 3.56,BSA alleviated the effect of the cake layer caused by OA, and OA enhanced BSA fouling simultaneously; while at p H 9.00, the mutual effects of OA and BSA eased the membrane fouling.展开更多
文摘The method of error correction is one of key techniques of parallel robot. A new method of end error correction of 6-HTRT parallel robot is presented for engineering and researching on correlative theory of 6-HTRT parallel robot. The method need calculate many kinematics equations of parallel robot such as position back solution, velocity Jacobin, position forward solution and error Jacobin. New methods presented for solving these questions are simpler and fitter for programming and calculating, because former methods are too complex to use in engineering. These questions may be solved by iterative method of numerical value which has fast velocity of calculating. These new methods may be used in other mechanism of parallel robot too, and so have wider using value. The experimental results demonstrate that the system may satisfy entirely high technical request and fit for engineering in new measures.
文摘Octanoic acid（OA） was selected to represent fatty acids in effluent organic matter（EOM）. The effects of feed solution（FS） properties, membrane orientation and initial permeate flux on OA fouling in forward osmosis（FO） were investigated. The undissociated OA formed a cake layer quickly and caused the water flux to decline significantly in the initial 0.5 hr at unadjusted p H 3.56; while the fully dissociated OA behaved as an anionic surfactant and promoted the water permeation at an elevated p H of 9.00. Moreover, except at the initial stage, the sudden decline of water flux（meaning the occurrence of severe membrane fouling） occurred in two conditions： 1.0.5 mmol/L Ca2＋, active layer facing draw solution（AL-DS） and 1.5 mol/L Na Cl（DS）; 2. No Ca2＋,active layer-facing FS（AL-FS） and 4 mol/L Na Cl（DS）. This demonstrated that cake layer compaction or pore blocking occurred only when enough foulants were absorbed into the membrane surface, and the water permeation was high enough to compact the deposit inside the porous substrate. Furthermore, bovine serum albumin（BSA） was selected as a co-foulant.The water flux of both co-foulants was between the fluxes obtained separately for the two foulants at p H 3.56, and larger than the two values at p H 9.00. This manifested that, at p H 3.56,BSA alleviated the effect of the cake layer caused by OA, and OA enhanced BSA fouling simultaneously; while at p H 9.00, the mutual effects of OA and BSA eased the membrane fouling.
