Increase In Cycle Time Research Articles

The Performance of Microfiltration Process for Purifying Lactic Acid in the Fermented Broth of Kitchen Waste

Fermentation broth is plentiful with lactic acid, an important chemical applied in many fields, such as food processing, the chemical industry, and cosmetics. However, the purification of the lactic acid from the broth is still troublesome, when considering the economy. This study first investigated the purification performance of microfiltration (MF) membrane technology for a fermentation broth from kitchen waste. The effect of operation pressure, broth pH, and membrane flushing mode on the membrane filtration performance were investigated. In addition, the change in filtration performance over the increase in cycle time was also investigated. The results showed that under the optimum pressure of 100 KPa, pH of 6.0, and a backflushing mode with deionized water for 3 min, the best performance was achieved, with chroma removal, turbidity removal, protein removal and total sugar removal efficiencies of 60, 92.8, 57.64 and 32.93%, respectively. The results indicated that the MF process could be a desirable broth purification process to some extent, and it is promising in actual application. The MF process combined with other post-purification processes will form the ideal process system, which should be explored in future research.

Modulation of Arm Swing Frequency and Gait Using Rhythmic Tactile Feedback.

Due to the neural coupling between upper and lower limbs and the importance of interlimb coordination in human gait, focusing on appropriate arm swing should be a part of gait rehabilitation in individuals with walking impairments. Despite its vital importance, there is a lack of effective methods to exploit the potential of arm swing inclusion for gait rehabilitation. In this work, we present a lightweight and wireless haptic feedback system that provides highly synchronized vibrotactile cues to the arms to manipulate arm swing and investigate the effects of this manipulation on the subjects' gait in a study with 12 participants (20-44 years). We found the developed system effectively adjusted the subjects' arm swing and stride cycle times by significantly reducing and increasing those parameters by up to 20% and 35%, respectively, compared to their baseline values during normal walking with no feedback. Particularly, the reduction of arms' and legs' cycle times translated into a substantial increase of up to 19.3% (on average) in walking speed. The response of the subjects to the feedback was also quantified in both transient and steady-state walking. The analysis of settling times from the transient responses revealed a fast and similar adaptation of both arms' and legs' movements to the feedback for reducing cycle time (i.e., increasing speed). Conversely, larger settling times and the time differences between arms' and legs' responses were observed due to feedback for increasing cycle times (i.e., reducing speed). The results clearly demonstrate the potential of the developed system to induce different arm-swing patterns as well as the ability of the proposed method to modulate key gait parameters through leveraging the interlimb neural coupling, with implications for gait training.

Interlimb and Intralimb Coordination of Rectus Femoris and Biceps Femoris Muscles at Different Running Speeds.

The purpose of this study was to investigate the relationship between spatiotemporal variables and the muscle activity of the rectus femoris (RF) and biceps femoris (BF) in both legs at various running speeds. Eighteen well-trained male athletes (age: 20.7 ± 1.8 yr) were asked to run for 50 m with 7 different "subjective efforts (SE)" (20%, 40%, 60%, 80%, 90%, 95%, and 100% SE). SE scaled relative to the maximal effort running (100%). The spatiotemporal variables (running speed, step frequency, step length) were measured over the distance from 30 to 50 m. The RF and BF muscle activities were obtained from both legs with wireless electromyography (EMG) sensors. We calculated RF and BF onset/offset timings in both legs (e.g., ipsilateral leg RF is "iRF," contralateral leg BF is "cBF"), which were expressed as % of a running cycle. Based on those timings, we obtained the EMG timing variables (%), as Switch1 (iBF offset to iRF onset), Switch2 (iRF offset to iBF onset), Scissors1 (cBF onset to iRF onset), and Scissors2 (iRF offset to cBF offset). running speed was well correlated with the SE, and higher running speed (>9 m·s -1 ) was achieved with higher step frequency (>4.0 Hz). Relative timings of RF and BF onset/offset (%) appeared earlier and later, respectively, with an increase in running speed. The absolute duration of RF activation (s) was elongated with the decrease in absolute running cycle time (increase in running speed). Both Switch and Scissors showed significant negative correlations with running speed and step frequency. The RF and BF excitation in both legs, as evidenced by changes in both Switch and Scissors, is coordinated for controlling running speed, as well as step frequency.

The effect of cyclic heating and cooling on mechanical and deformation responses of granites under preset angle shearing

In the process of geothermal energy exploitation, granites undergo cyclic heating and water cooling due to the heat conduction from distant rock mass to the cooled rock. The mechanical response, deformation and acoustic emission (AE) characteristics of granite treated by cyclic heating (150–300 °C) and water cooling (1–15) under the coupling action of compressive and shear stress were analyzed by preset angle shear tests in three preset angles (45°, 55°, 65°) at macroscopic level. Given that the peak strength of granite shows an accelerating downward trend with the increase of heating temperature and cycle times. The cohesion of granite declines, and the internal friction angle increases in general. AE activities are active throughout the loading process, which shows ductile failure characteristics of granite obviously. The accumulative AE events decrease by 69.3% with increasing heating temperature (150–600 °C), and 82.4% with increasing cycle times (1–15). The crack initiation area gradually shifts from the two ends of sample to the middle area with the increasing thermal damage. Shear behaviors inside the granite start earlier and last for a longer period, which results in the complex fracture network distribution of turtle shape and the shearing failure of “Z” shape on the surface of 600-1 sample. Scanning electron microscopy (SEM) was conducted to reveal the microscopic mechanism of thermal damage. Given that the intergranular and transgranular cracks induced by the uneven expansion of particles connect with each other and form a complex crack network as the thermal damage increasing. The continuous heating with high temperature causes minerals to melt and deform, resulting in the decrease of bonding strength between particles. All above results can provide references for the analysis and prediction of rock stability of granite in Enhanced Geothermal Systems (EGS) project.

Multiple Head Rotations Result in Persistent Gait Alterations in Piglets.

Multiple/repeated mild traumatic brain injury (mTBI) in young children can cause long-term gait impairments and affect the developmental course of motor control. Using our swine model for mTBI in young children, our aim was to (i) establish a reference range (RR) for each parameter to validate injury and track recovery, and (ii) evaluate changes in gait patterns following a single and multiple (5×) sagittal rapid non-impact head rotation (RNR). Gait patterns were studied in four groups of 4-week-old Yorkshire swine: healthy (n = 18), anesthesia-only sham (n = 8), single RNR injury (n = 12) and multiple RNR injury (n = 11). Results were evaluated pre-injury and at 1, 4, and 7 days post-injury. RR reliability was validated using additional healthy animals (n = 6). Repeated mTBI produced significant increases in gait time, cycle time, and stance time, as well as decreases in gait velocity and cadence, on Day One post-injury compared to pre-injury, and these remained significantly altered at Day Four and Day Seven post-injury. The gait metrics of the repeated TBI group also significantly fell outside the healthy RR on Day One, with some recovery by Day Four, while many remained altered at Day Seven. Only a bilateral decrease in hind stride length was observed at Day Four in our single RNR group compared to pre-injury. In sum, repeated and single sagittal TBI can significantly impair motor performance, and gait metrics can serve as reliable, objective, quantitative functional assessments in a juvenile porcine RNR TBI model.

Three-dimensional Ti3C2Tx and MnS composites as anode materials for high performance alkalis (Li, Na, K) ion batteries

Exploring capable and universal electrode materials could promote the development of alkalis (Li, Na, K) ion batteries. 2D MXene material is an ideal host for the alkalis (Li, Na, K) ion storage, but its electrochemical performance is limited by serious re-stacking and aggregation problems. Herein, we cleverly combined electrostatic self-assembly with gas-phase vulcanization method to successfully combine Ti3C2Tx-MXene with ultra-long recyclability and high conductivity with MnS, which presents high specific capacity but poor conductivity. The as-prepared 3D hierarchical Ti3C2Tx/MnS composites have an unique sandwich-like constituent units. The tiny MnS nanoparticles are restricted between the Ti3C2Tx layers and play a key role in expanding the Ti3C2Tx interlayer spacing. As a result, the 3D Ti3C2Tx/MnS composites as the anode of LIBs exhibits a superior capacities of 826 and 634 mAh/g after 1000 and 3000 cycles at 0.5 and 1.0 A/g, respectively. More importantly, we reveal the reaction mechanism that the specific capacity first increases and then gradually stabilizes with the increase of charge and discharge cycle times when the as-prepared 3D Ti3C2Tx/MnS was used as the anode of LIBs. In addition, we have also used this material in SIBs and PIBs and achieved remarkable electrochemical capability, with a specific capacity of 107 mAh/g after 2500 cycles at 0.5 A/g or 127 mAh/g after the 2000th cycle at 0.2 A/g, respectively.

Degradation response of mode I and mode III fracture resistance of sandstone under wetting–drying cycles with an acidic solution

The edge notched disk bend samples were adopted to investigate the degradation response of mode I and mode III fracture resistance of green sandstone under wetting–drying cycles in an acidic solution. Meanwhile, the degradation damage mechanism was clarified by observing the variations of the microstructures of the rock. The results indicated that the mode I and mode III fracture resistance reduced with increasing wetting–drying cycle times, which were decreased respectively by 34.3% and 36.8% after undergoing 10 cycles. Fracture toughness ratio KIIIC/KIC was slightly reduced with increasing cycle times, and the degradation damage on mode I fracture resistance was less than that of mode III. The major reason for the decrease in fracture resistance was the irreversible physical–chemical damage accumulation and the changes in microstructure characteristics during cyclic wetting–drying procedure.

Study on the Fatigue Strength of Welding Line in Injection Molding Products under Different Tensile Conditions.

The fatigue performance of polypropylene (PP) at various amplitudes and frequencies on fatigue cycles under tensile test conditions is investigated in this study. The results show that increasing the frequency leads to a decrease in fatigue cycles due to increased cycle time. The decline rate can be divided into two stages, between 1 and 5 Hz. The first stage rapidly decreases fatigue performance as the frequency increases from 1 Hz to 2 Hz or 3 Hz. The second stage has a lower reduction rate, which occurs between 2 Hz or 3 Hz and 5 Hz due to the strengthening effect of increasing frequency. Furthermore, increasing the amplitude from 0.1 mm to 0.4 mm reduces the fatigue cycle due to the higher deformation rate. In summary, expanding both amplitude and frequency reduces the fatigue performance of the PP material. Moreover, according to the scanning electron microscope microstructure, increasing the frequency results in more microcracks in the polymer matrix.

Investigation on the Injection Pattern of Intermittent Natural Gas Flooding in Ultra-Low Permeability Reservoirs

Natural gas is a viable oil displacement agent in ultra-low-permeability reservoirs due to its good fluidity. It can also cause gas channeling during continuous injection, which limits its oilfield application. In order to relieve gas channeling during natural gas flooding, the injection mode should be changed. The use of intermittent natural gas injection (IGI) after the continuous natural gas injection in an ultra-low-permeability reservoir is proposed, and optimization of the injection parameters is discussed. The results show that IGI can be divided into three stages, the gas injection stage, the well shutting stage and the oil production stage. With the increase in injection time, the oil recovery enhances obviously as a result of IGI because the gas fingering can be controlled at the well shutting stage, and the gas/liquid ratio grows slowly because the gas breakthrough can be reduced at the oil production stage. The oil recovery improves with the increase in cycle time of IGI, while the increase rate reduces evidently after the cycle time reaches 360 min. The oil recovery increment is low if the cycle index exceeds 3 in the ultra-low-permeability reservoir. Thus, the optimal cycle time for each round and the appropriate cycle index of IGI are 360 min and three rounds.

Coupling High-Field Asymmetric Ion Mobility Spectrometry with Capillary Electrophoresis-Electrospray Ionization-Tandem Mass Spectrometry Improves Protein Identifications in Bottom-Up Proteomic Analysis of Low Nanogram Samples.

In this work, we pioneered the assessment of coupling high-field asymmetric waveform ion mobility spectrometry (FAIMS) with ultrasensitive capillary electrophoresis hyphenated with tandem mass spectrometry (CE-MS/MS) to achieve deeper proteome coverage of low nanogram amounts of digested cell lysates. An internal stepping strategy using three or four compensation voltages per analytical run with varied cycle times was tested to determine optimal FAIMS settings and MS parameters for the CE-FAIMS-MS/MS method. The optimized method applied to bottom-up proteomic analysis of 1 ng of HeLa protein digest standard identified 1314 ± 30 proteins, 4829 ± 200 peptide groups, and 7577 ± 163 peptide spectrum matches (PSMs) corresponding to a 16, 25, and 22% increase, respectively, over CE-MS/MS alone, without FAIMS. Furthermore, the percentage of acquired MS/MS spectra that resulted in PSMs increased nearly 2-fold with CE-FAIMS-MS/MS. Label-free quantitation of proteins and peptides was also assessed to determine the precision of replicate analyses from FAIMS methods with increased cycle times. Our results also identified from 1 ng of HeLa protein digest without any prior enrichment 76 ± 9 phosphopeptides, 18% of which were multiphosphorylated. These results represent a 46% increase in phosphopeptide identifications over the control experiments without FAIMS yielding 2.5-fold more multiphosphorylated peptides.

Solution and Analysis of Wellbore Temperature and Pressure Field Coupling Model under Lost Circulation.

The fluid in the annulus is in a variable mass flow state under the lost circulation condition, significantly affecting wellbore pressure distribution and the heat transfer efficiency between wellbore and formation. Therefore, based on the hydrodynamics and energy conservation law, a coupling model of transient wellbore temperature and pressure field under lost circulation conditions is established, which fully considers the casing program, bottom hole assembly, and heat source generated in drilling, as well as the influence of the temperature and pressure coupling in wellbore on the physical parameters of drilling fluid. The calculation results of the model in this paper are in good agreement with the field measured data and the previous research results, which verifies the rationality and accuracy of the model in this paper. The effects of the loss rate and the lost circulation zone location on the wellbore temperature and pressure distribution are analyzed, and the variation rule of the physical parameters of drilling fluid under the lost circulation condition is studied. The numerical simulation results show that the density and viscosity of drilling fluid in the annulus and bottom hole pressure increase with the increase in the circulation time; the annulus temperature decreases gradually with the increase in cycle time and tends to become stable after 8 h of the cycle. The annulus temperature and bottom hole pressure decrease with the increase in loss rate and closeness of the loss zone to the well bottom. When the loss zone is in the upper open-hole section, an inflection point consistent with the location of the loss zone appears on the annular temperature difference curve between the loss circulation and the nonloss circulation, and the position of the loss zone can be judged according to the inflection point.

On the Freeze-Thaw Instability of an Open Pit Slope Using Three-Dimensional Laser Scanning and Numerical Simulation

In order to reveal the instability law of open pit mine slope in high-cold and high-altitude area. Firstly, the slope structural plane is scanned by three-dimensional (3D) laser scanning technology, and the point cloud data is obtained to realize the intelligent identification of rock mass structural plane. The geometric parameters of rock mass are counted, and the physical structure model is established. Then, we carry out freeze-thaw cyclic tests on granite to obtain the corresponding mechanical parameters. Finally, according to the obtained mechanical parameters, we use RS2 finite element software to calculate the shear strength of structural plane and joint by generalized Hoek-Brown criterion and Barton-Bandis criterion, respectively, establish the geomechanical model, and use the finite element strength reduction method to calculate the safety factor of slope and judge the instability of slope. The results show that the physical and mechanical properties of granite deteriorate with the increase of the freeze-thaw cycle. Under the action of the freeze-thaw cycle, the pore water in the rock mass freezes and forms frost heaving force. The expansion of volume leads to the further development of joint fissures. The strength of rock slope decreases gradually with the increase of freeze-thaw cycle times, and the safety factor of slope decreases continuously. It shows that repeated freeze and thaw alternation makes the stability of mine slope worse and worse. The research results are helpful to prevent the occurrence of slope disasters in advance and are of great significance to effectively and safely manage the stability of slope, the treatment of open pit, and environmental treatment.

CNT 필름 히터 적용 곡면형 금형의 균일 가열기법 연구

Injection molding is one of most widely-used polymer processing technologies in which hot polymer fills a mold cavity, and is solidified during the subsequent cooling process. In the mold filling stage, the mold temperature should be high to improve flow characteristics, and low to reduce cooling time during the cooling stage. To fulfill these objectives, rapid mold heating technology has been developed to raise mold temperature, without significant increase in cycle time. While the conventional rapid heating technologies required dedicated facilities such as steam heating or high-frequency induction heating system and has a limitation in uniform heating, the purpose of this study was to develop a facile and conformal mold heating unit that uses a carbon nanotube (CNT) film heater. The CNT film heater was used to heat a curved mold with high temperature uniformity, by maintaining uniform distance from the mold surface. The developed conformal heating technology was then applied to a singly curved mold and a multiply curved mold. Considering that the resulting temperature uniformity is superior to the conventional oil heating, the conformal mold heating technology using the CNT film heater can be used to improve part quality and productivity in various molding processes.

Experimental Study on Damage Characteristics of Solidified Mud under Coupling Action of Freeze-Thaw Cycle and Chloride Salt

The physical properties of solidified mud will deteriorate under the combined action of freezing-thawing cycle and chlorine salt, which will affect the safety and stability of solidified mud engineering. In order to study the damage characteristics of solidified mud under the action of freeze-thaw cycle and chloride salt, the solidified mud samples were soaked in different concentrations of sodium chloride solution and treated with freeze-thaw cycle. Besides, the unconfined compressive strength test was carried out to study the damage characteristics of the samples caused by different concentrations of sodium chloride solution and freeze-thaw cycles. The test results show the following. (1) Under the action of freeze-thaw cycle and sodium chloride solution, the surface of the sample deteriorated in varying degrees. With the increase in freeze-thaw cycle times and sodium chloride solution concentration, the mass loss of the sample was greater. (2) Under the action of chlorine salt and freeze-thaw cycle, the strength of the sample decreases with the increase in freeze-thaw cycle times. With the increase in the concentration of sodium chloride solution, the strength of the sample decreases and the damage degree increases gradually. (3) Under the action of freeze-thaw cycle, the internal pores of the samples gradually expand and more honeycomb holes appear, and the content of hydration products is higher. As the concentration of sodium chloride solution increases, the particle connection inside the sample gradually weakens, and the sample is more likely to be damaged.

Study on flexural properties of coal gangue powder asphalt mixture under freeze-thaw cycles

In order to study the influence of freeze-thaw cycle on the flexural performance of asphalt pavement, semi-circular flexural test (SCB) is carried out. Coal gangue powder (accounting for 0%, 25%, 50%, 75% and 100% by weight of ore powder) is used to replace ore powder to improve the freeze-thaw resistance of asphalt.According to the test data, the load-displacement curve is drawn, the ultimate tensile stress() is studied, and the variation law of different coal gangue powder replacement rates under different freeze-thaw cycles (0, 2, 4, and 6 times) is analyzed by ultimate tensile stress. The test results show that the best replacement rate of coal gangue powder is 50%, and decreases with the increase of freeze-thaw cycles, so adding coal gangue powder can reduce the influence of freeze-thaw cycles on the bending performance of asphalt pavement. By analyzing the load-displacement curve, energy indexes such as WD(total work from initial failure to complete failure), WU(energy dissipation from initial failure to complete failure), WS(work from initial failure to specimen failure) and are obtained. In the freeze-thaw cycle, with the increase of cycle times, the energy consumption of WD, WU and WS decreases, which aggravates the damage of asphalt mixture and reduces the flexural capacity of specimens. Among them, six freeze-thaw cycles have the lowest flexural capacity of specimens, indicating that freeze-thaw damage directly affects the flexural performance of asphalt mixture.

Performance degradation and damage model of rice husk ash concrete under dry-wet cycles of sulfate environment.

Rice husk ash concrete (RHAC) is a new type of concrete that has been rapidly gaining acceptance in recent years. In this paper, the improvement effect of rice husk ash (RHA) on the sulfate erosion performance of concrete was confirmed. The ratio of rice husk ash concrete (RHAC) was optimized and compared with ordinary concrete (OC). The performance degradation of 9%RHAC (rice husk ash at 9% by weight of cement) and OC within 135 times erosion dry-wet cycles solution with Na2SO4 at 5% by weight of solution were studied, including the change of apparent phenomena, compressive strength, tensile strength, effective porosity, and dynamic elastic modulus. The microstructure changes of samples before and after sulfate dry-wet cycle were observed by using a scanning electron microscope (SEM). The results show that with the increase of sulfate dry-wet cycle times, the concrete specimen gradually peels off and expands in volume. The compressive strength and tensile strength increase first and then drop sharply, the effective porosity decreases first and then increases, and the relative dynamic elastic modulus increases and then decreases. The reason is that the ettringite and gypsum are formed by the reaction of sulfate intrusion and hydration products under wetting treatment. After drying treatment, ettringite and free water combine to form sodium sulfate. In the early of circulation, ettringite, gypsum, and sodium sulfate fill the internal pores of the concrete and improve the density. As the number of sulfate dry-wet cycles increases, expansion products accumulate, causing structural expansion damage and deterioration of mechanical performance. However, the hydrated calcium silicate hydrate gel was produced by mixing rice husk ash with concrete to improve the material strength and corrosion resistance. The deterioration degree of the 9%RHAC is better than that of OC at all stages. Finally, the damage constitutive models were established, and the accuracy is higher compared with the measured value.

Influence of Loading Distance, Loading Angle and Log Orientation on Time Consumption of Forwarder Loading Cycles: A Pilot Case Study

Fully mechanized timber harvesting systems are well established in forest operations worldwide. In cut-to-length (CTL) systems, forwarders are used for extracting logs from the stand. The productivity of a forwarder is related to site- and stand-specific characteristics, technical parameters, organizational aspects, and the individual skills of the operator. The operator’s performance during “loading” considerably affects forwarder productivity, since this element occupies nearly 50% of forwarding cycle time in CTL operations. When positioning the forwarder for loading, different loading angles and loading distances arise. Additionally, different log orientation angles in relation to the machine operating trail can be observed. Therefore, an in-depth analysis of loading conditions was conducted. The goal of this pilot case study was to explore the potential impact of different loading angles and distances, and log orientation angles, on time consumption per loading cycle in order to derive indications for more efficient work practices. Therefore, controlled loading sequences were tested on a physical Rottne-F10-based forwarder simulator with an experienced forest machine operator. Three loading angles (45°, 90° and 135° azimuthal to the machine axis) with five loading distances (3, 4, 5, 6 and 7 m), and three log orientation angles (45°, 90°, 135°), resulted in a total of 45 settings, which were tested in 10 repetitions each. The time required for a loading cycle was captured in a time study, applying the snap-back method. Results showed that all three tested variables had a significant influence on time consumption per loading cycle. Loading at an angle of 135°, and from a close (3 m) or far distance (7 m) led to especially increased cycle times. Loading from 4 to 6 m distance could be detected as an optimal loading range. Additionally, log orientation angles of 45° and 90° led to increased loading efficiency. Even if the validity of the results may be limited due to different conditions and influencing factors in field forwarding operations, these data can contribute to a better understanding of the loading element and, in particular, to productivity determining factors of forwarder work.

Study on Selective Preparation of Phenolic Products from Lignin over Ru–Ni Bimetallic Catalysts Supported on Modified HY Zeolite

The catalytic depolymerization of organic solvent lignin with the prepared catalyst 2.5Ru–10Ni/Al-HY was investigated in a high-pressure reactor. Effects of different catalysts, temperature, time, recyclability for catalyst, and solvents on the catalytic performance were explored. The optimal reaction conditions were reaction time 5 h and temperature 280 °C in ethanol solvent. As a result, the highest yield of phenolic monomers was 20.2 wt %, the yield of solid residue was only 4.8 wt %, and the gas products were CH4, C2H6, and CO mainly. With the increase of cycle times, the catalyst had no obvious deactivation, indicating a unique cycle stability. Through NMR characterization of lignin and depolymerization products, it was found that the signals of the original structures (A, B, and C) in lignin disappeared after reaction. According to the analysis of the reaction path, the depolymerization of lignin mainly included the depolymerization of lignin into reaction intermediates and the formation of phenolic compounds by breaking chemical bonds. This research showed a method for preparing phenolic products by the molecular sieve catalyzed depolymerization of lignin.

Algorithms for Improving Speed and Accuracy of Automated Three-Dimensional Reconstruction With a Depth Camera Mounted on An Industrial Robot

Abstract Three-dimensional reconstruction technology is used in a wide variety of applications. Automatically creating accurate pointclouds for large parts with complex geometries usually requires expensive metrology instruments. We are interested in using low-cost depth cameras mounted on commonly available industrial robots to create accurate pointclouds for large parts automatically. Manufacturing applications require fast cycle times. Therefore, we are interested in speeding up the 3D reconstruction process. We present algorithmic advances in 3D reconstruction that achieve a sub-millimeter accuracy using a low-cost depth camera. Our system can be used to determine a pointcloud model of large and complex parts. Advances in camera calibration, cycle time reduction for pointcloud capturing, and uncertainty estimation are made in this work. We continuously capture pointclouds at an optimal camera location with respect to part distance during robot motion execution. The redundancy in pointclouds achieved by the moving camera significantly reduces errors in measurements without increasing cycle time. Our system produces sub-millimeter accuracy.

Study on Damage Law of Raw Coal Based on Different Characterization Methods

The different damage variables equation based on strain, energy dissipation, acoustic emission (AE), and permeability characteristics under tiered cyclic loading were defined. The damage variables based on different characteristics were compared, analyzed, and found that there are similarities and differences between them. The results show that: (1) the law curve of single cycle damage based on residual deformation and permeability is the same. With the increase of cycle times, it decreases first and then gently increases, increased sharply before the failure. However, the law curve of single cycle damage based on energy dissipation and AE ring count shows that it first increases slowly and the adjacent failure increases rapidly. (2) The cumulative damage evolution law based on residual deformation and permeability show an obvious three‐stage pattern; that is, first accelerates, then slows down, and then accelerates again. However, the cumulative damage evolution law based on energy dissipation and AE ring count shows an obvious two‐stage pattern, that is, first gently increases, and increased sharply before the failure.