A complete and systematic procedure for the dynamical parameters identification of industrial robot manipulator is presented. The system model of robot including joint friction model is linear with respect to the dynamical parameters. Identification experiments are carried out for a 6-degree-of-freedom (DOF) ER-16 robot. Relevant data is sampled while the robot is tracking optimal trajectories that excite the system. The artificial bee colony algorithm is introduced to estimate the unknown parameters. And we validate the dynamical model according to torque prediction accuracy. All the results are presented to demonstrate the efficiency of our proposed identification algorithm and the accuracy of the identified robot model.
Background
d-Lactic acid played an important role in the establishment of PLA as a substitute for petrochemical plastics. But, so far, the d-lactic acid production was limited in only pilot scale, which was definitely unable to meet the fast growing market demand. To achieve industrial scale d-lactic acid production, the cost-associated problems such as high-cost feedstock, expensive nutrient sources and fermentation technology need to be resolved to establish an economical fermentation process.
Results
In the present study, the combined effect of B vitamin supplementation and membrane integrated continuous fermentation on d-lactic acid production from agricultural lignocellulosic biomass by Lactobacillus delbrueckii was investigated. The results indicated the specific addition of vitamins B1, B2, B3 and B5 (VB1, VB2, VB3 and VB5) could reduce the yeast extract (YE) addition from 10 to 3 g/l without obvious influence on fermentation efficiency. By employing cell recycling system in 350 h continuous fermentation with B vitamin supplementation, YE addition was further reduced to 0.5 g/l, which resulted in nutrient source cost reduction of 86%. A maximum d-lactate productivity of 18.56 g/l/h and optical purity of 99.5% were achieved and higher than most recent reports.
Conclusion
These findings suggested the novel fermentation strategy proposed could effectively reduce the production cost and improve fermentation efficiency, thus exhibiting great potential in promoting industrial scale d-lactic acid production from lignocellulosic biomass.
Graphical Abstract
Unsteady flow separation controls are effective in suppressing flow separations. However, the unique phenomena in unsteady separation control, including frequency-dependent, threshold, location-dependent, and lock-on effects, are not fully understood. Furthermore, the mechanism of the effectiveness that lies in unsteady flow controls remains unclear. Thus, this study aims to interpret further the unique phenomena and mechanism in unsteady flow separation controls. First, numerical simulation and some experimental results of a separated curved diffuser using pulsed jet flow control are discussed to show the four unique phenomena. Second, the bases of unsteady flow control, flow instability, and free shear flow theories are introduced to elucidate the unique phenomena and mechanism in unsteady flow separation controls. Subsequently, with the support of these theories, the unique phenomena of unsteady flow control are interpreted, and the mechanisms hidden in the phenomena are revealed.
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