The removal of hydrogen sulfide from gas plays an important role in rational utilization of resources and environ- mental protection. In this paper, the process of hydrogen sulfide removal by wet oxidation method in a...The removal of hydrogen sulfide from gas plays an important role in rational utilization of resources and environ- mental protection. In this paper, the process of hydrogen sulfide removal by wet oxidation method in a rotating packed bed was investigated in a scale for treating 10 000 Nm3/h of gas. On the basis of studying the influence of the species and con- centration of alkali source, the liquid/gas volume ratio, the high gravity factor, and the hydrogen sulfide content in feed gas on the desulfurization effect, the suitable technological conditions were obtained. The hydrogen sulfide removal efficiency could reach 98.0% under these conditions. The results of continuous operation of process facilities showed that the high gravity method has many merits including higher desulfurization rate, good stability in operation, lower liquid/gas volume ratio, greater operation elasticity, and apparent energy saving effects.展开更多
Hydraulic butterfly valves have been widely applied in marine engineering because of their large switching torque, low pressure loss and suitability for large and medium diameter pipelines. Due to control problems res...Hydraulic butterfly valves have been widely applied in marine engineering because of their large switching torque, low pressure loss and suitability for large and medium diameter pipelines. Due to control problems resulting from switching angular speeds of the hydraulic butterfly valve, a throttle-governing control mode has been widely adopted, and detailed analysis has been carried out worldwide on the structural principle concerning speed-regulation and the load torque on the shaft while opening or closing a hydraulic butterfly valve. However relevant reports have yet been published on the change law, the error and the influencing factors of the rotational angular velocity of the hydraulic butterfly valve while opening and closing. In this article, research was based on some common specifications of a hydraulic butterfly valve with a symmetrical valve flap existing in a marine environment. The throttle governing system supplied by the accumulator to achieve the switching of the hydraulic control valve was adopted, and the mathematical models of the system were established in the actual conditions while the numerical simulations took place. The simulation results and analysis show that the rotational angular velocity and the error of the hydraulic butterfly valve while switching is influenced greatly by the drainage amount of the accumulator, resulting in pressure loss in the pipeline, the temperature of hydraulic medium and the load of the hydraulic butterfly valve. The simulation results and analysis provide a theoretical basis for the choice of the total capacity of the accumulator and pipeline diameters in a throttle governing system with a hydraulic butterfly valve.It also determines the type and specification of the hydraulic butterfly valve and the design of motion parameters of the transported fluid.展开更多
Spinning gait is valuable for quadruped robot,which can be used to avoid obstacles quickly for robot walking in unstructured environment. A kind of bionic flexible body is presented for quadruped robot to perform the ...Spinning gait is valuable for quadruped robot,which can be used to avoid obstacles quickly for robot walking in unstructured environment. A kind of bionic flexible body is presented for quadruped robot to perform the spinning gait. The spinning gait can be achieved by coordinated movement of body laterally bending and legs swing,which can improve the mobility of robot walking in the unstructured environments. The coordinated movement relationship between the body and the leg mechanism is presented. The stability of quadruped robot with spinning gait is analyzed based on the center of gravity( COG) projection method. The effect of different body bending angle on the stability of quadruped robot with spinning gait is mainly studied. For the quadruped robot walking with spinning gait,during one spinning gait cycle,the supporting polygon and the trajectory of COG projection point under different body bending angle are calculated. Finally,the stability margin of quadruped robot with spinning gait under different body bending angle is determined,which can be used to evaluate reasonableness of spinning gait parameters.展开更多
For realizing non-contact steering swimming of a capsule robot in curved environment filled with viscous liquid, based on spa- tial orthogonal superposition theorem of alternating magnetic vectors, an innovative physi...For realizing non-contact steering swimming of a capsule robot in curved environment filled with viscous liquid, based on spa- tial orthogonal superposition theorem of alternating magnetic vectors, an innovative physical method is proposed, which em- ploys three-axis orthogonal square Helmholtz coils fed with three phase sine currents to create a universal uniform magnetic spin vector as energy source. According to the antiphase sine current superposition theorem generalized in this paper, an effec- tive control method for successively adjusting the orientation and the rotating direction of the universal magnetic spin vector is proposed. For validating its feasibility and controllability, three-axis Helmholtz coils, power source and an innovative capsule robot prototype were manufactured, experiments were conducted in both spiral pipe and animal intestine. It was demonstrated that the orientation and the rotational direction of the universal uniform-magnetic spin vector can be adjusted successively through digital control and steering swimming of the capsule robot in spiral intestine can be achieved successfully. The breakthrough of the universal rotating uniform-magnetic vector will push forward the development of modern physics and biomedical engineering展开更多
It is of great interest to study the dynamical environment on the surface of non-spherical small bodies, especially for asteroids. This paper takes a simple case of a cube for instance, investigates the dynamics of a ...It is of great interest to study the dynamical environment on the surface of non-spherical small bodies, especially for asteroids. This paper takes a simple case of a cube for instance, investigates the dynamics of a particle on the surface of a rotating homogeneous cube, and derives fruitful results. Due to the symmetrical characteristic of the cube, the analysis includes motions on two different types of surfaces. For each surface, both the frictionless and friction cases are considered. (i) Without consideration of friction, the surface equilibria in both of the different surfaces are examined and periodic orbits are derived. The analysis of equilibria and periodic orbits could assist understanding the skeleton of motions on the surface of asteroids. (ii) For the friction cases, the conditions that the particle does not escape from the surface are examined. Due to the effect of the friction, there exist the equilibrium regions on the surface where the particle stays at rest, and the locations of them are found. Finally, the dust collection regions are predicted. Future work will extend to real asteroid shapes.展开更多
基金the Shanxi Provin-cial Youth Science and Technology Research Fund (No.2008021009-2) for the financial support to this project
文摘The removal of hydrogen sulfide from gas plays an important role in rational utilization of resources and environ- mental protection. In this paper, the process of hydrogen sulfide removal by wet oxidation method in a rotating packed bed was investigated in a scale for treating 10 000 Nm3/h of gas. On the basis of studying the influence of the species and con- centration of alkali source, the liquid/gas volume ratio, the high gravity factor, and the hydrogen sulfide content in feed gas on the desulfurization effect, the suitable technological conditions were obtained. The hydrogen sulfide removal efficiency could reach 98.0% under these conditions. The results of continuous operation of process facilities showed that the high gravity method has many merits including higher desulfurization rate, good stability in operation, lower liquid/gas volume ratio, greater operation elasticity, and apparent energy saving effects.
文摘Hydraulic butterfly valves have been widely applied in marine engineering because of their large switching torque, low pressure loss and suitability for large and medium diameter pipelines. Due to control problems resulting from switching angular speeds of the hydraulic butterfly valve, a throttle-governing control mode has been widely adopted, and detailed analysis has been carried out worldwide on the structural principle concerning speed-regulation and the load torque on the shaft while opening or closing a hydraulic butterfly valve. However relevant reports have yet been published on the change law, the error and the influencing factors of the rotational angular velocity of the hydraulic butterfly valve while opening and closing. In this article, research was based on some common specifications of a hydraulic butterfly valve with a symmetrical valve flap existing in a marine environment. The throttle governing system supplied by the accumulator to achieve the switching of the hydraulic control valve was adopted, and the mathematical models of the system were established in the actual conditions while the numerical simulations took place. The simulation results and analysis show that the rotational angular velocity and the error of the hydraulic butterfly valve while switching is influenced greatly by the drainage amount of the accumulator, resulting in pressure loss in the pipeline, the temperature of hydraulic medium and the load of the hydraulic butterfly valve. The simulation results and analysis provide a theoretical basis for the choice of the total capacity of the accumulator and pipeline diameters in a throttle governing system with a hydraulic butterfly valve.It also determines the type and specification of the hydraulic butterfly valve and the design of motion parameters of the transported fluid.
基金Supported by the National Natural Science Foundation of China(No.51375289)Shanghai Municipal National Natural Science Foundation of China(No.13ZR1415500)Innovation Fund of Shanghai Education Commission(No.13YZ020)
文摘Spinning gait is valuable for quadruped robot,which can be used to avoid obstacles quickly for robot walking in unstructured environment. A kind of bionic flexible body is presented for quadruped robot to perform the spinning gait. The spinning gait can be achieved by coordinated movement of body laterally bending and legs swing,which can improve the mobility of robot walking in the unstructured environments. The coordinated movement relationship between the body and the leg mechanism is presented. The stability of quadruped robot with spinning gait is analyzed based on the center of gravity( COG) projection method. The effect of different body bending angle on the stability of quadruped robot with spinning gait is mainly studied. For the quadruped robot walking with spinning gait,during one spinning gait cycle,the supporting polygon and the trajectory of COG projection point under different body bending angle are calculated. Finally,the stability margin of quadruped robot with spinning gait under different body bending angle is determined,which can be used to evaluate reasonableness of spinning gait parameters.
基金supported by the National Natural Science Foundation of China (Grant Nos. 60875064,61175102,and 51277018)
文摘For realizing non-contact steering swimming of a capsule robot in curved environment filled with viscous liquid, based on spa- tial orthogonal superposition theorem of alternating magnetic vectors, an innovative physical method is proposed, which em- ploys three-axis orthogonal square Helmholtz coils fed with three phase sine currents to create a universal uniform magnetic spin vector as energy source. According to the antiphase sine current superposition theorem generalized in this paper, an effec- tive control method for successively adjusting the orientation and the rotating direction of the universal magnetic spin vector is proposed. For validating its feasibility and controllability, three-axis Helmholtz coils, power source and an innovative capsule robot prototype were manufactured, experiments were conducted in both spiral pipe and animal intestine. It was demonstrated that the orientation and the rotational direction of the universal uniform-magnetic spin vector can be adjusted successively through digital control and steering swimming of the capsule robot in spiral intestine can be achieved successfully. The breakthrough of the universal rotating uniform-magnetic vector will push forward the development of modern physics and biomedical engineering
基金supported by the National Basic Research Program of China (Grant No. 2012CB720000)the National Natural Science Foundation of China (Grant No. 11072122)
文摘It is of great interest to study the dynamical environment on the surface of non-spherical small bodies, especially for asteroids. This paper takes a simple case of a cube for instance, investigates the dynamics of a particle on the surface of a rotating homogeneous cube, and derives fruitful results. Due to the symmetrical characteristic of the cube, the analysis includes motions on two different types of surfaces. For each surface, both the frictionless and friction cases are considered. (i) Without consideration of friction, the surface equilibria in both of the different surfaces are examined and periodic orbits are derived. The analysis of equilibria and periodic orbits could assist understanding the skeleton of motions on the surface of asteroids. (ii) For the friction cases, the conditions that the particle does not escape from the surface are examined. Due to the effect of the friction, there exist the equilibrium regions on the surface where the particle stays at rest, and the locations of them are found. Finally, the dust collection regions are predicted. Future work will extend to real asteroid shapes.
