Due to the characteristics of high efficiency,wide working range,and high flexibility,industrial robots are being increasingly used in the industries of automotive,machining,electrical and electronic,rubber and plasti...Due to the characteristics of high efficiency,wide working range,and high flexibility,industrial robots are being increasingly used in the industries of automotive,machining,electrical and electronic,rubber and plastics,aerospace,food,etc.Whereas the low positioning accuracy,resulted from the serial configuration of industrial robots,has limited their further developments and applications in the field of high requirements for machining accuracy,e.g.,aircraft assembly.In this paper,a neural-network-based approach is proposed to improve the robots’positioning accuracy.Firstly,the neural network,optimized by a genetic particle swarm algorithm,is constructed to model and predict the positioning errors of an industrial robot.Next,the predicted errors are utilized to realize the compensation of the target points at the robot’s workspace.Finally,a series of experiments of the KUKA KR 500–3 industrial robot with no-load and drilling scenarios are implemented to validate the proposed method.The experimental results show that the positioning errors of the robot are reduced from 1.529 mm to 0.344 mm and from 1.879 mm to 0.227 mm for the no-load and drilling conditions,respectively,which means that the position accuracy of the robot is increased by 77.6%and 87.9%for the two experimental conditions,respectively.展开更多
The development of methods for the efficient treatment and application of food waste digestate is an important research goal.Vermicomposting via housefly larvae is an efficient way to reduce food waste and achieve its...The development of methods for the efficient treatment and application of food waste digestate is an important research goal.Vermicomposting via housefly larvae is an efficient way to reduce food waste and achieve its valorization,however,studies on the application and performance of digestate in vermicomposting are rarely.The present study aimed to investigate the feasibility of the co-treatment of food waste and digestate as an additive via larvae.Restaurant food waste(RFW)and household food waste(HFW)were selected to assess the effects of waste type on vermicomposting performance and larval quality.Waste reduction rates of 50.9%–57.8%were observed in the vermicomposting of food waste mixed with digestate at a ratio of 25%,which were slightly lower than those for treatments without the addition of digestate(62.8%–65.9%).The addition of digestate increased the germination index,with a maximum value of 82%in the RFW treatments with 25%digestate,and decreased the respiration activity,with a minimum value of 30 mg-O_(2)/g-TS.The larval productivity of 13.9%in the RFW treatment system with a digestate rate of 25%was lower that without digestate(19.5%).Materials balance shows that larval biomass and metabolic equivalent had decreasing trends as the amount of digestate increased and HFW vermicomposting exhibited lower bioconversion efficiency than that of RFW treatment system regardless of the addition of digestate.These results suggest that mixing digestate at a low ratio(25%)during vermicomposting of foodwaste especially RFW could lead to considerable larval biomass and generate relatively stable residues.展开更多
Efficient and environmentally sound treatment of soybean processing wastewater sludge is importance for industrial sustainability.Bioconversion by black soldier fly larvae(BSFL)has been extensively applied in biowaste...Efficient and environmentally sound treatment of soybean processing wastewater sludge is importance for industrial sustainability.Bioconversion by black soldier fly larvae(BSFL)has been extensively applied in biowaste recycling because of its efficacy and production of high-value outputs.However,the performance and underlying bacterial drivers of the BSFL-mediated sludge bioconversion require further investigation.This study investigated the larval bioconversion of the sludge,emphasizing waste reduction,larval quality,and the relationship between these aspects and bacterial communities.The inoculation with BSFL remarkably enhanced the reduction in the initial substrate(i.e.,sludge plus wheat bran as the bulking material).This intervention also yielded a high larval bioconversion rate of approximately 22%along with a higher larval crude protein content ranging from 45%-48% and a 17 amino acid to protein ratio of 86%-92%.Higher dissolved organic carbon concentrations(15-22 g/kg),coupled with lower germination indices(<5%),indicated that the residues retained biological instability after the bioconversion and required further composting.The potential risk of heavy metal pollution from mature larvae may not be a concern when used as aquaculture feed.The larval gut exhibited a higher bacterial diversity than the residues.Ammonium concentration increased with wheat bran and was positively correlated with the genera Lysinibacillus and Castellanella.Diverse gut bacteria(Olivibacter,Paracoccus)primarily facilitated notable sludge reduction.Sphingobacteria,Acinetobacter and Glutamicbacter played key roles in larval growth traits(biomass,protein,and amino acids).This study indicated that the valorization of soybean-processing-sourced sludge was achieved via functionally important BSFL intestinal microbiota,providing an efficient recycling approach for similar waste streams.展开更多
Hydrothermal treatment(HTT)can efficiently valorize the digestate after anaerobic digestion.However,the disposal of the HTT liquid is challenging.This paper proposes a method to recover energy through the anaerobic co...Hydrothermal treatment(HTT)can efficiently valorize the digestate after anaerobic digestion.However,the disposal of the HTT liquid is challenging.This paper proposes a method to recover energy through the anaerobic co-digestion of food waste and HTT liquid fraction.The effect of HTT liquid recirculation on anaerobic co-digestion performance was investigated.This study focused on the self-generated hydrochars that remained in the HTT supernatant after centrifugation.The effect of the self-generated hydrochars on the methane(CH_(4))yield and microbial communities were discussed.After adding HTT liquids treated at 140 and 180C,the maximum CH4 production increased to 309.36 and 331.61 mL per g COD,respectively.The HTT liquid exhibited a pH buffering effect and kept a favorable pH for the anaerobic co-digestion.In addition,the self-generated hydrochars with higher carbon content and large oxygen-containing functional groups remained in HTT liquid.They increased the electron transferring rate of the anaerobic co-digestion.The increased relative abundance of Methanosarcina,Syntrophomonadaceae,and Synergistota was observed with adding HTT liquid.The results of the principal component analysis indicate that the electron transferring rate constant had positive correlationships with the relative abundance of Methanosarcina,Syntrophomonadaceae,and Synergistota.This study can provide a good reference for the disposal of the HTT liquid and a novel insight regarding the mechanism for the anaerobic co-digestion.展开更多
Vermicomposting utilizes the synergistic effect of earthworms with microorganisms to accelerate the stabilization of organic matter in biowastes.Nevertheless,the exact mechanism behind the maturity of vermicompost and...Vermicomposting utilizes the synergistic effect of earthworms with microorganisms to accelerate the stabilization of organic matter in biowastes.Nevertheless,the exact mechanism behind the maturity of vermicompost and the growth of earthworms exposed to biochar of varying particle sizes remains unclear.This study presents an investigation of the effect of biochar particle size on earthworm(Eisenia fetida)survival,microbial diver-sity,and the quality of vermicompost products.To address these issues,pelletized dewatered sludge samples from a municipal sewage treatment plant were amended with pine-based biochar with particle sizes of 1-2 mm,25-75μm,200 nm,and 60 nm as the substrate for vermicomposting.This study revealed that the addition of millimeter-scale biochar and micron-scale biochar significantly promoted the degradation of organic matter since the organic matter in the treatment with 1-2 mm biochar at the end of the vermicomposting experiment decreased by 12.6%,which was equivalent to a 1.9-fold increase compared with that of the control.Excessive nanopowdering of nanobiochar significantly affected the survival of earthworms and led to 24.4-33.3%cumulative mortality,while millimeter-scale(mm)biochar and micron-scale(μm)biochar achieved zero mortality.The findings of this study could be used for evaluating the potential impact of nanoscale biochar to earthworms and guiding biochar-augmented vermicomposting.展开更多
The asymmetric hydrogenation of N-heteroarenes provides an efficient method for the synthesis of optically active cyclic secondary amines.In this paper,we described an asymmetric hydrogenation of phenanthridines using...The asymmetric hydrogenation of N-heteroarenes provides an efficient method for the synthesis of optically active cyclic secondary amines.In this paper,we described an asymmetric hydrogenation of phenanthridines using a chiral mono-alkene-derived borane.A variety of dihydrophenanthridines were furnished in high yields with up to 93%ee.The current catalytic system was very sensitive for the steric hindrance of phenanthridines.Bulky substituents at one phenyl group of phenanthridines were required to obtain the high enantioselectivity.But large substituents on the carbon of the C=N bonds would diminish the reactivity sharply.展开更多
基金co-supported by the Natural Science Foundation of Jiangsu Province(No.BK20190417)the National Natural Science Foundation of China(No.52005254)the National Key R&D Program of China(No.2018YFB1306800)。
文摘Due to the characteristics of high efficiency,wide working range,and high flexibility,industrial robots are being increasingly used in the industries of automotive,machining,electrical and electronic,rubber and plastics,aerospace,food,etc.Whereas the low positioning accuracy,resulted from the serial configuration of industrial robots,has limited their further developments and applications in the field of high requirements for machining accuracy,e.g.,aircraft assembly.In this paper,a neural-network-based approach is proposed to improve the robots’positioning accuracy.Firstly,the neural network,optimized by a genetic particle swarm algorithm,is constructed to model and predict the positioning errors of an industrial robot.Next,the predicted errors are utilized to realize the compensation of the target points at the robot’s workspace.Finally,a series of experiments of the KUKA KR 500–3 industrial robot with no-load and drilling scenarios are implemented to validate the proposed method.The experimental results show that the positioning errors of the robot are reduced from 1.529 mm to 0.344 mm and from 1.879 mm to 0.227 mm for the no-load and drilling conditions,respectively,which means that the position accuracy of the robot is increased by 77.6%and 87.9%for the two experimental conditions,respectively.
基金This work is supported by the National Key R&D Program of China(No.2018YFD1100600).The authors appreciate Ms.Ning Zhang,Mr.WeiWang,and Mr.Jing Guo for their assistances in analysis.
文摘The development of methods for the efficient treatment and application of food waste digestate is an important research goal.Vermicomposting via housefly larvae is an efficient way to reduce food waste and achieve its valorization,however,studies on the application and performance of digestate in vermicomposting are rarely.The present study aimed to investigate the feasibility of the co-treatment of food waste and digestate as an additive via larvae.Restaurant food waste(RFW)and household food waste(HFW)were selected to assess the effects of waste type on vermicomposting performance and larval quality.Waste reduction rates of 50.9%–57.8%were observed in the vermicomposting of food waste mixed with digestate at a ratio of 25%,which were slightly lower than those for treatments without the addition of digestate(62.8%–65.9%).The addition of digestate increased the germination index,with a maximum value of 82%in the RFW treatments with 25%digestate,and decreased the respiration activity,with a minimum value of 30 mg-O_(2)/g-TS.The larval productivity of 13.9%in the RFW treatment system with a digestate rate of 25%was lower that without digestate(19.5%).Materials balance shows that larval biomass and metabolic equivalent had decreasing trends as the amount of digestate increased and HFW vermicomposting exhibited lower bioconversion efficiency than that of RFW treatment system regardless of the addition of digestate.These results suggest that mixing digestate at a low ratio(25%)during vermicomposting of foodwaste especially RFW could lead to considerable larval biomass and generate relatively stable residues.
基金supported financially from the Shenzhen Civic Administration and Regulation Bureau of China,the National Natural Science Foundation of China(No.22176005)the Key R&D Program of Hebei Province,China(No.22327312D).
文摘Efficient and environmentally sound treatment of soybean processing wastewater sludge is importance for industrial sustainability.Bioconversion by black soldier fly larvae(BSFL)has been extensively applied in biowaste recycling because of its efficacy and production of high-value outputs.However,the performance and underlying bacterial drivers of the BSFL-mediated sludge bioconversion require further investigation.This study investigated the larval bioconversion of the sludge,emphasizing waste reduction,larval quality,and the relationship between these aspects and bacterial communities.The inoculation with BSFL remarkably enhanced the reduction in the initial substrate(i.e.,sludge plus wheat bran as the bulking material).This intervention also yielded a high larval bioconversion rate of approximately 22%along with a higher larval crude protein content ranging from 45%-48% and a 17 amino acid to protein ratio of 86%-92%.Higher dissolved organic carbon concentrations(15-22 g/kg),coupled with lower germination indices(<5%),indicated that the residues retained biological instability after the bioconversion and required further composting.The potential risk of heavy metal pollution from mature larvae may not be a concern when used as aquaculture feed.The larval gut exhibited a higher bacterial diversity than the residues.Ammonium concentration increased with wheat bran and was positively correlated with the genera Lysinibacillus and Castellanella.Diverse gut bacteria(Olivibacter,Paracoccus)primarily facilitated notable sludge reduction.Sphingobacteria,Acinetobacter and Glutamicbacter played key roles in larval growth traits(biomass,protein,and amino acids).This study indicated that the valorization of soybean-processing-sourced sludge was achieved via functionally important BSFL intestinal microbiota,providing an efficient recycling approach for similar waste streams.
基金supported by the Shenzhen Fundamental Research Program(No.GXWD20201231165807007-20220724202837001).
文摘Hydrothermal treatment(HTT)can efficiently valorize the digestate after anaerobic digestion.However,the disposal of the HTT liquid is challenging.This paper proposes a method to recover energy through the anaerobic co-digestion of food waste and HTT liquid fraction.The effect of HTT liquid recirculation on anaerobic co-digestion performance was investigated.This study focused on the self-generated hydrochars that remained in the HTT supernatant after centrifugation.The effect of the self-generated hydrochars on the methane(CH_(4))yield and microbial communities were discussed.After adding HTT liquids treated at 140 and 180C,the maximum CH4 production increased to 309.36 and 331.61 mL per g COD,respectively.The HTT liquid exhibited a pH buffering effect and kept a favorable pH for the anaerobic co-digestion.In addition,the self-generated hydrochars with higher carbon content and large oxygen-containing functional groups remained in HTT liquid.They increased the electron transferring rate of the anaerobic co-digestion.The increased relative abundance of Methanosarcina,Syntrophomonadaceae,and Synergistota was observed with adding HTT liquid.The results of the principal component analysis indicate that the electron transferring rate constant had positive correlationships with the relative abundance of Methanosarcina,Syntrophomonadaceae,and Synergistota.This study can provide a good reference for the disposal of the HTT liquid and a novel insight regarding the mechanism for the anaerobic co-digestion.
基金supported by the National Natural Science Foundation of China(52000144)the Fundamental Research Funds for the Central Universities(22120220553,2023-3-YB-11).
文摘Vermicomposting utilizes the synergistic effect of earthworms with microorganisms to accelerate the stabilization of organic matter in biowastes.Nevertheless,the exact mechanism behind the maturity of vermicompost and the growth of earthworms exposed to biochar of varying particle sizes remains unclear.This study presents an investigation of the effect of biochar particle size on earthworm(Eisenia fetida)survival,microbial diver-sity,and the quality of vermicompost products.To address these issues,pelletized dewatered sludge samples from a municipal sewage treatment plant were amended with pine-based biochar with particle sizes of 1-2 mm,25-75μm,200 nm,and 60 nm as the substrate for vermicomposting.This study revealed that the addition of millimeter-scale biochar and micron-scale biochar significantly promoted the degradation of organic matter since the organic matter in the treatment with 1-2 mm biochar at the end of the vermicomposting experiment decreased by 12.6%,which was equivalent to a 1.9-fold increase compared with that of the control.Excessive nanopowdering of nanobiochar significantly affected the survival of earthworms and led to 24.4-33.3%cumulative mortality,while millimeter-scale(mm)biochar and micron-scale(μm)biochar achieved zero mortality.The findings of this study could be used for evaluating the potential impact of nanoscale biochar to earthworms and guiding biochar-augmented vermicomposting.
基金financial support from the National Natural Science Foundation of China(21825108 and 22331011).
文摘The asymmetric hydrogenation of N-heteroarenes provides an efficient method for the synthesis of optically active cyclic secondary amines.In this paper,we described an asymmetric hydrogenation of phenanthridines using a chiral mono-alkene-derived borane.A variety of dihydrophenanthridines were furnished in high yields with up to 93%ee.The current catalytic system was very sensitive for the steric hindrance of phenanthridines.Bulky substituents at one phenyl group of phenanthridines were required to obtain the high enantioselectivity.But large substituents on the carbon of the C=N bonds would diminish the reactivity sharply.
