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The climbing of trees to pick pinecones is a high-risk exercise. In this study, a mechanical gripper jaw was designed. Frictional characteristics between the pinecones and the mechanical gripper jaw during pinecone picking under different conditions were investigated using a workbench simulation, homemade inclined friction meter, and mass tester. Three-level orthogonal and one-factor tests were conducted. The relationship between the water content and friction properties and between the water content and hardness were investigated, and conclusions were drawn on how water content affected friction properties by influencing hardness. The results showed that the contact material greatly affected the friction properties. The pinecone water content was maintained between 24% and 28% to ensure that the coefficient of friction was maximized and that the pinecones were sufficiently hard to dislodge. Additionally, a prototype machine was used to perform pinecone-gripping experiments to validate the experimental and simulation results. Consequently, the results of this study provide a useful reference for the structural design of pinecone picking robots and the picking reason. [ABSTRACT FROM AUTHOR]

Enzymatic hydrolysate of poplar wood was used in this study to produce biobutanol by a mutant M-18. Plackett-Burman and Box-Behnken designs were adopted in order to screen crucial factors from various nutrient factors affecting butanol production. These factors included reducing sugar content of hydrolysate, MgSO4•7H2O, yeast extract, K2HPO4, FeSO4•7H2O, CaCO3, and ammonium sulfate. The results demonstrated that a reduction in sugar content, K2HPO4, and CaCO3 were the most critical factors. Yeast extract was also found to have a significant effect on biobutanol production by performing an analysis of variance (ANOVA). Optimal variables were 44.53 g/L of reducing sugar concentration, 1.36 g/L of K2HPO4, and 4.65 g/L of CaCO3 according to the Box-Behnken design. A model was established and used to predict a maximum biobutanol production of 7.59 g/L. Optimal conditions of fermentation were determined by orthogonal tests. Three distinct factors with important effects on biobutanol production were explored. The pH was identified as having the most significant effect on biobutanol biosynthesis. Optimized fermentation conditions for biobutanol production were determined at an initial pH of 6.5, temperature 36 °C, and inoculum quantity 9%. Under these conditions, a maximum biobutanol production of 8.41±0.20 g/L was achieved in verification experiments in a 3 L fermentation tank. [ABSTRACT FROM AUTHOR]