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To improve the hydrophilicity of polyethersulfone (PES) membranes, SMANa/PES composite membranes were prepared by non solvent induced phase separation (NIPS) using styrene maleic anhydride copolymer (SMANa) at different alkali treatment temperatures as an additive. On this basis, the MXene/ZnO membrane was prepared using vacuum filtration method, and the structure, morphology, and separation performance of the separation membrane were tested. The results showed that the transformation of SMA to SMANa was accompanied by improved compatibility with PES. The electrical conductivity was as high as 0.73 S/cm when the loading of MXene was 0.18 g/m². When the content of ZnO further increased to 15%, the water contact angle decreased from 38.5° to 22.4°. The addition of ZnO not only effectively prevents the stacking between MXene layers, but also endows the conductive separation membrane with excellent hydrophilicity. When the ZnO content was 15%, the rejection rate of MXene/ZnO membrane for Congo red dye increased from 58.84% at 0 V to 77.07% at 1 V, and the permeate flux did not change greatly. [ABSTRACT FROM AUTHOR]

The 6- DOF joint robot with offset wrist can’t satisfy the Pieper rule,thus there are no closed- form inverse kinematics solutions for them. Compared with non- offset robot,a numerical iterative algorithm that integrates the closed- form inverse solutions of non- offset robot with the modified Newton iteration method is obtained,and the inverse method is utilized to obtain the closed- form inverse solutions of the non- offset robot with the same configurations,and the solutions are considered as the initial values of the subsequent iteration. According to the forward kinematics,by combining the three components of position vector with the three independent elements of attitude matrix,a non- liner equation set which contains all joint variables can be obtained,and then the numerical inverse kinematics solutions for the robot with offset wrist can be searched with the modified Newton iteration method. A large number of tests indicate that the algorithm can meet the requirements of real- time control.

Bamboo is easy to cultivate, grows quickly, and can replace wood or other products after processing. However, the previous layout was mainly based on manual experience. There were issues such as long material transportation distances and frequent interference in transportation paths, resulting in high construction and maintenance costs for production lines. In order to solve the problems, in this work, a new methodology and mathematical formulation was proposed to minimize the total material handling cost and workflow interference. The new method combined a NSGA- II and the A* algorithm in order to minimize the above two objectives. Compared to the Manhattan distance used in traditional algorithms, this method used the A* algorithm to calculate the optimization objective, which can achieve lower material transportation costs and has the ability to handle transportation obstacles and path interference issues. The results showed that after optimization, the average material transportation cost was reduced by 18.1%, with a maximum reduction of 10.5% and a maximum reduction of 97.5% in cross interference points. This indicated that the method proposed in this article was effective in the layout of the original bamboo primary processing production line. [ABSTRACT FROM AUTHOR]

The Monte Carlo method is a simple and common way to analyze workspace for robot,and workspace boundary extraction is the key part of Monte Carlo workspace analysis. By using an improved algorithm to extract the workspace boundary of a robot with 7 degrees of freedom,the extraction efficiency and the result both meet the requirement of the following work. The efficiency and accuracy of the improved algorithm are analyzed through experiment,and the result shows the improved algorithm is effective.