ABSTRACT
Spherical robots have fully wrapped shells, which enables them to walk well on complex terrains, such as swamps, grasslands and deserts. At present, path planning algorithms for spherical robots mainly focus on finding the shortest path between the initial position and the target position. In this paper, an improved A* algorithm considering energy consumption is proposed for the path planning of spherical robots. The optimization objective of this algorithm is to minimize both the energy consumption and path length of a spherical robot. A heuristic function constructed with the energy consumption estimation model (ECEM) and the distance estimation model (DEM) is used to determine the path cost of the A* algorithm. ECEM and DCM are established based on the force analysis of the spherical robot and the improved Euclidean distance of the grid map, respectively. The effectiveness of the proposed algorithm is verified by simulation analysis based on a 3D grid map and a spherical robot moving with uniform velocity. The results show that compared with traditional path planning algorithms, the proposed algorithm can minimize the energy consumption and path length of the spherical robot as much as possible.
ABSTRACT
In this paper, the effect of temperature, adsorption bed height, and initial mercury concentration under oxy-fuel combustion on mercury adsorption by 1% NH4Cl-modified biomass char was studied. Modification enriched the pore structure of biomass char and increased the number of surface functional groups. Higher temperature would lead to the destruction of van der Waals and reduce the adsorption efficiency, while the change of adsorption bed height had no obvious effect. Adsorption thermodynamics shows that the mercury removal process is a spontaneous exothermic process. The increase of initial mercury concentration would increase the driving force of mercury diffusion to the surface and improve the adsorption capacity. Meanwhile, three kinetic models including the intraparticle diffusion model, pseudo-first-order model, and pseudo-second-order model were applied to explore the internal mechanism of mercury adsorption by biomass char. The results showed that the pseudo-first-order model and pseudo-second-order model could accurately describe the adsorption process, which meant that the progress of external mass transfer played an important role in the adsorption of mercury while chemical adsorption should not be ignored. The intraparticle diffusion model indicated that internal diffusion was not the only step to control the entire adsorption process and did not have an inhibition on mercury removal. Higher initial mercury concentration would promote the external mass transfer progress and chemical adsorption progress. In addition, higher temperature inhibited the external mass transfer, which was not conducive to the adsorption of mercury.
