The localization for mine rescue robot in unknown space of coal mine emer- gency was researched,basing on the requirement of mine rescue robot localization which enters the scene of the coal mine accident,unknown circ...The localization for mine rescue robot in unknown space of coal mine emer- gency was researched,basing on the requirement of mine rescue robot localization which enters the scene of the coal mine accident,unknown circumstance,the unstructured, non-Gaussian and nonlinear work-space for robot works.The localization using particle filter was proposed to which is applied in mine rescue robot in unknown under-ground space.Meanwhile,focusing on severe particle sample degeneracy in the primary particle filter,an improved particle filter was proposed to reinforce the stability of particle filter.Be- ing compared with localization using extended Kalman filter through simulation experiment the localization using particle filter is proved to have more locating accuracy in unknown underground space and better computational real-time ability,which solves the pre-local- ization problem of robot underground.展开更多
A series of granular activated carbons （GACs） were prepared by briquetting method from Chinese coals of different ranks and their blends, with coal pitch as the binder. Pore structural parameters including BET speci...A series of granular activated carbons （GACs） were prepared by briquetting method from Chinese coals of different ranks and their blends, with coal pitch as the binder. Pore structural parameters including BET specific surface area （SBEr）, total pore volume （Vr） and average pore diameter （da） were measured and cal- culated as well as process parameters such as yield of char （CY） and burn-off （B）. The relationship between the pore structural parameters of the GAC from coal blend （BC-GAC） and the ones of the GACs from corresponding single coals （SC-GACs） was analyzed, in which an index, the relative error （δ）, was presented to define the bias between fitted values and experimental values of these parameters of the BC-GACs. The results show that the BC-GAC keeps qualitatively the pore structural features of the SC-GACs; as concerned as the quantitative relationship, the pore structural parameters of the BC-GAC from coal blend consisting of non-caking coals can be obtained by adding proportionally the pore structural parameters of the SC-GACs with a less than 10%. Meanwhile, for the BC-GAC from coal blend containing weak caking bituminous coal, the δ increases up to 25% and the experimental pore size distribution differs greatly from the fitted one.展开更多
Normally, industries in general, produce waste at its majority toxic, such as fly ash, for example, which damage the environment. The aim of this paper is to investigate the evolution of the temperature in a combustio...Normally, industries in general, produce waste at its majority toxic, such as fly ash, for example, which damage the environment. The aim of this paper is to investigate the evolution of the temperature in a combustion reactor, full of pellets manufactured with fly ash, clay and charcoal powder, after sintering, to obtainment synthetic aggregates for use in civil construction. The pellets were produced in a cement mix. For realization of the work, a co-current combustion reactor was made in order to analyze the temperatures profile and investigate if the values of these temperatures would be sufficient to initiate the process of sintering of the pellets. Temperatures reached in the reactor varied in the range of 800 ℃-1,290 ℃. These values are sufficient to initiate the process of sintering of the pellets. For the experiment realized, parameters such as inlet velocity of the fluid （air）, diameters of the pellets and size of charcoal crushed in a disk mill were varied and the effect of variations of these parameters were analyzed for the experiment. The historical temperatures were recorded by a data acquisition instrument and subsequently plotted for analysis.展开更多
Particulate emission is a major problem in industrial processes, mainly power plants that make use of coal as a primary source of energy. Stringent emissions limits, set by government organisations requires industries...Particulate emission is a major problem in industrial processes, mainly power plants that make use of coal as a primary source of energy. Stringent emissions limits, set by government organisations requires industries to conform to these limits to ensure that air quality is sustained and with minimum pollutant present. Electrostatic precipitators are typically used to filter and collect these particulate emissions. Fly ash resistivity is a primary parameter in the collection of particulate emissions, and there is a resistivity range at which electrostatic precipitator collection is most efficient and anything outside this range limits, their operation. High resistivity ash results in back-corona discharge, whilst low resistivity results in particle re-entrainment into the flue gas stream. The purpose of this paper is to investigate and obtain a fly ash resistivity profile for existing power plants in South Africa. Ash samples obtained from power plants are, tested making use of an ash-resistivity test oven, in accordance with IEEE Standard 548-1984. This paper discusses obtained experimental results, to determine the resistivity profile at which South African power plant electrostatic precipitators operate. The electrical efficiency of the electrostatic precipitator system is evaluated based on the obtained resistivity profiles.展开更多
基金the National Natural Science Foundation of China(50674075)
文摘The localization for mine rescue robot in unknown space of coal mine emer- gency was researched,basing on the requirement of mine rescue robot localization which enters the scene of the coal mine accident,unknown circumstance,the unstructured, non-Gaussian and nonlinear work-space for robot works.The localization using particle filter was proposed to which is applied in mine rescue robot in unknown under-ground space.Meanwhile,focusing on severe particle sample degeneracy in the primary particle filter,an improved particle filter was proposed to reinforce the stability of particle filter.Be- ing compared with localization using extended Kalman filter through simulation experiment the localization using particle filter is proved to have more locating accuracy in unknown underground space and better computational real-time ability,which solves the pre-local- ization problem of robot underground.
基金financially supported by the National High-Tech Research and Development Program of China (No.2008AA05Z308)the National Natural Science Foundation of China (No.20776150)
文摘A series of granular activated carbons （GACs） were prepared by briquetting method from Chinese coals of different ranks and their blends, with coal pitch as the binder. Pore structural parameters including BET specific surface area （SBEr）, total pore volume （Vr） and average pore diameter （da） were measured and cal- culated as well as process parameters such as yield of char （CY） and burn-off （B）. The relationship between the pore structural parameters of the GAC from coal blend （BC-GAC） and the ones of the GACs from corresponding single coals （SC-GACs） was analyzed, in which an index, the relative error （δ）, was presented to define the bias between fitted values and experimental values of these parameters of the BC-GACs. The results show that the BC-GAC keeps qualitatively the pore structural features of the SC-GACs; as concerned as the quantitative relationship, the pore structural parameters of the BC-GAC from coal blend consisting of non-caking coals can be obtained by adding proportionally the pore structural parameters of the SC-GACs with a less than 10%. Meanwhile, for the BC-GAC from coal blend containing weak caking bituminous coal, the δ increases up to 25% and the experimental pore size distribution differs greatly from the fitted one.
文摘Normally, industries in general, produce waste at its majority toxic, such as fly ash, for example, which damage the environment. The aim of this paper is to investigate the evolution of the temperature in a combustion reactor, full of pellets manufactured with fly ash, clay and charcoal powder, after sintering, to obtainment synthetic aggregates for use in civil construction. The pellets were produced in a cement mix. For realization of the work, a co-current combustion reactor was made in order to analyze the temperatures profile and investigate if the values of these temperatures would be sufficient to initiate the process of sintering of the pellets. Temperatures reached in the reactor varied in the range of 800 ℃-1,290 ℃. These values are sufficient to initiate the process of sintering of the pellets. For the experiment realized, parameters such as inlet velocity of the fluid （air）, diameters of the pellets and size of charcoal crushed in a disk mill were varied and the effect of variations of these parameters were analyzed for the experiment. The historical temperatures were recorded by a data acquisition instrument and subsequently plotted for analysis.
文摘Particulate emission is a major problem in industrial processes, mainly power plants that make use of coal as a primary source of energy. Stringent emissions limits, set by government organisations requires industries to conform to these limits to ensure that air quality is sustained and with minimum pollutant present. Electrostatic precipitators are typically used to filter and collect these particulate emissions. Fly ash resistivity is a primary parameter in the collection of particulate emissions, and there is a resistivity range at which electrostatic precipitator collection is most efficient and anything outside this range limits, their operation. High resistivity ash results in back-corona discharge, whilst low resistivity results in particle re-entrainment into the flue gas stream. The purpose of this paper is to investigate and obtain a fly ash resistivity profile for existing power plants in South Africa. Ash samples obtained from power plants are, tested making use of an ash-resistivity test oven, in accordance with IEEE Standard 548-1984. This paper discusses obtained experimental results, to determine the resistivity profile at which South African power plant electrostatic precipitators operate. The electrical efficiency of the electrostatic precipitator system is evaluated based on the obtained resistivity profiles.
