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Control technology for wheeled mobile robots is one of the core focuses in the current field of robotics research. Within this domain, model-free adaptive control (MFAC) methods, with their advanced data-driven strategies, have garnered widespread attention. The unique characteristic of these methods is their ability to operate without relying on prior model information of the control system, which showcases their exceptional capability in ensuring closed-loop system stability. This paper extensively details three dynamic linearization techniques of MFAC: compact form dynamic linearization, partial form dynamic linearization and full form dynamic linearization. These techniques lay a solid theoretical foundation for MFAC. Subsequently, the article delves into some advanced MFAC schemes, such as dynamic event-triggered MFAC and iterative learning MFAC. These schemes further enhance the efficiency and intelligence level of control systems. In the concluding section, the paper briefly discusses the future development potential and possible research directions of MFAC, aiming to offer references and insights for future innovations in control technology for wheeled mobile robots. [ABSTRACT FROM AUTHOR]

Carbon capture, utilization and sequestration (CCUS) technology is considered an effective technology for reducing anthropogenic carbon dioxide emissions into the atmosphere. Saline aquifers are the most promising places for CO2 storage. However, field practice has demonstrated that salt precipitation near wellbores could lower reservoir permeability and result in a loss of CO2 injectivity. This paper reviews the research progress on salt precipitation during CO2 injection into saline aquifers. First, the mechanism of salt precipitation is studied in terms of the CO2 injection stage division and salt precipitation occurrence characteristics. Second, the current technical approaches for salt precipitation research are examined, encompassing numerical simulations, core tests and analytical solutions, and the accomplishments and advancements of these three methods are analyzed. The factors that govern salt precipitation, such as reservoir heterogeneity, salinity, injection rate, temperature, and wettability, are also analyzed. Eventually, the current state of CO2 storage in saline sandstone is presented, and a number of problems in salt precipitation research are identified. [ABSTRACT FROM AUTHOR]