In this study, the project of constructed wetland for treatment of tailwater from the wastewater treatment plant in Wudang Mountain was taken as an example, and the technological processes, pollution load, wetland bed...In this study, the project of constructed wetland for treatment of tailwater from the wastewater treatment plant in Wudang Mountain was taken as an example, and the technological processes, pollution load, wetland bed structure, bed filler, selection of plants and hydraulic conditions of the subsurface flow constructed wetland were discussed. A subsurface flow constructed wetland, which covered an area of 7 227 m^2 was finally designed. It could treat 7 000 m^3 of tailwater from the wastewater treatment plant a day. In addition, the system could reduce the emission of COD, BODs, TN, TP and NH3-N by 25.55, 25.55, 12.78, 1.28 and 17.89 t respectively a day. The outlet water was proved to reach the Standard A of the first class in Discharge Standard of Pollutants for Municipal Wastewater Treatment Plant （GB 18918-2002）.展开更多
A spherical robot based on a novel double ballast masses principle is developed for military reconnaissance and unknown environment exploration. The robot is driven by two DC motors, each of which drives one ballast m...A spherical robot based on a novel double ballast masses principle is developed for military reconnaissance and unknown environment exploration. The robot is driven by two DC motors, each of which drives one ballast mass, and the two ballast masses are placed symmetrically on the major axis. Compared with the traditional ballast mass principle, the robot has featured high speed, the ability of slope climbing and obstacle overcoming in linear motion. The robot has two inputs and three DOF, which is a nonholonomic and underactuated system. The dynamic model of the robot is constructed, and the linear motion performance of robot in theory is proved by Adams simulation. The control system is briefly introduced, and the performance of the prototype is tested by experiments at last.展开更多
文摘In this study, the project of constructed wetland for treatment of tailwater from the wastewater treatment plant in Wudang Mountain was taken as an example, and the technological processes, pollution load, wetland bed structure, bed filler, selection of plants and hydraulic conditions of the subsurface flow constructed wetland were discussed. A subsurface flow constructed wetland, which covered an area of 7 227 m^2 was finally designed. It could treat 7 000 m^3 of tailwater from the wastewater treatment plant a day. In addition, the system could reduce the emission of COD, BODs, TN, TP and NH3-N by 25.55, 25.55, 12.78, 1.28 and 17.89 t respectively a day. The outlet water was proved to reach the Standard A of the first class in Discharge Standard of Pollutants for Municipal Wastewater Treatment Plant （GB 18918-2002）.
文摘A spherical robot based on a novel double ballast masses principle is developed for military reconnaissance and unknown environment exploration. The robot is driven by two DC motors, each of which drives one ballast mass, and the two ballast masses are placed symmetrically on the major axis. Compared with the traditional ballast mass principle, the robot has featured high speed, the ability of slope climbing and obstacle overcoming in linear motion. The robot has two inputs and three DOF, which is a nonholonomic and underactuated system. The dynamic model of the robot is constructed, and the linear motion performance of robot in theory is proved by Adams simulation. The control system is briefly introduced, and the performance of the prototype is tested by experiments at last.
