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A novel six-axis force/torque sensor (F/T sensor) for an Experimental Module Manipulator (EMM) in the Chinese Space Station (CSS) is developed in this paper. First, we designed the elastomer structure of the F/T sensor and used the analytical method and the finite element method to analyze the strain, in order to accomplish the strain gauges’ layout. Then, the electrical system was designed, which mainly realizes the acquisition of force/torque information, temperature and serial communication with the end effector (EE). Following this, we analyzed and designed the adaptability of the F/T sensor to the space environment. After this, the manufacturing process of the sensor was introduced in detail, and the F/T sensor was calibrated by a pulley weight system. Finally, the sensor was tested on the space environment adaptability of mechanical vibration and thermal vacuum on the ground. The test results show that the developed sensor has the ability to accurately measure three-dimensional force and three-dimensional moment information on orbit, which provides necessary conditions for the on-orbit fine operation of EMM.

With the continuous expansion of industrial enterprises, a large amount of high-salt wastewater with complex components is produced. Direct discharge will cause great harm to the ecosystem and waste a large amount of potential salt resources. This paper summarizes the source, water quality characteristics, and environmental impact of high-salinity wastewater, and introduces the desalination and treatment technologies of high-salinity wastewater. The desalination technology of high-salinity wastewater mainly includes two processes: concentration and crystallization, obtaining concentrated solution through membrane concentration or thermal concentration and then carrying out crystallization treatment on the concentrated solution, thereby realizing the recovery of salt. The advanced treatment technologies of high-salinity wastewater were analyzed, including physicochemical treatment, biological treatment, and coupling treatment. Catalytic ozonation is one of the most widely used physicochemical technologies for the advanced treatment of high-salinity wastewater. Biological treatment processes operating in the presence of halotolerant bacteria show excellent performance at high salinity. High salinity has a negative impact on the performance of various physicochemical processes and biological treatment technologies. However, high salinity has little effect on the performance of a coupled system designed to treat high-salinity wastewater. In this review, the effect of salinity on the scaling and corrosion of equipment is also illustrated. It is suggested that the research direction of high-salinity wastewater should be to develop new membrane materials and catalysts, develop salt-tolerant microorganisms, explore high-efficiency and energy-saving physico–chemical–biochemical combination processes, improve the treatment efficiency of high-salinity organic wastewater, and reduce treatment costs.

High-salt printing and dyeing wastewater is a difficult industrial wastewater to treat. Coal-based activated carbon (CBAC) can be used as an adsorbent to treat high-salt printing and dyeing wastewater and realize the resource utilization of CBAC. In this study, simulated wastewater that contained methylene blue (MB) was used as the research object, and CBAC was used as the adsorbent. The effects of CBAC dosage, NaCl concentration, coexisting ions, adsorption time, MB concentration, humic acid concentration, and solution pH on the adsorption performance of CBAC with MB were discussed. The results showed that when the CBAC dosage was 0.6 g/L, the solution pH was greater than 6, the adsorption time was 8 h, the adsorption temperature was 308 K, and the MB concentration was 10 mg/L. Thus, the maximum adsorption capacity of CBAC with MB was obtained. The maximum adsorption capacity and removal rate were 15.5 mg/L and 90%, respectively. High-salt wastewater can inhibit the adsorption of methylene blue by coal-based activated carbon. In addition, 20 g/L of NaCl reduced the adsorption capacity of coal-based activated carbon by 1.8 mg/g. Compared to the other coexisting ions, the influence of the presence of Cu2+ and Fe3+ on the removal of methylene blue was greater. However, when Cu2+, Fe3+ and high-salt wastewater coexist, the inhibition effect decreases.

In this study, we prepared homemade fruit shell-activated carbon (SAC) with efficient adsorption of new pollutants and used it in the removal of methylene blue dye (MB) and ofloxacin antibiotic (OFL) in water. We fitted the experimental data for MB and OFL adsorption with isothermal and kinetic models and performed extensive characterization to study the properties of SAC. We also studied the effects of solution pH, dosage amount, initial concentration, and coexisting ions on the adsorption capacity. The results show that SAC has a rich pore structure, and electrostatic interactions are its main adsorption mechanism. Adjusting the solution pH by changing the SAC dosage and removing the K+, SO42−, and Cu2+ could increase the removal of MB and OFL to 99.9% and 97.6%, respectively. In addition, the adsorption capacity of SAC for MB remained at more than 50% of the initial state after three iterations of adsorption regeneration, showing a good regeneration ability. These results show the potential of SAC in replacing conventional activated carbon to remove new pollutants.

To cope with the increasingly severe challenges of zinc oxide nanoparticles (ZnO-NPs) in the field of the aquatic environment, this paper uses poly-aluminum ferric chloride (PAFC) and cationic polyacrylamide (CPAM) as coagulants to enhance the removal of ZnO-NPs from water. In two environments (pure-water environment and kaolin environment) that simulate suspended solids, we studied the dosage, pH, precipitation time, and hydraulic power of ZnO-NPs at three different initial concentrations (1, 2, and 30 mg/L). The effects of various conditions on the performance of PAFC, CPAM, and PAFC/CPAM to remove ZnO-NPs were examined. Results showed that the overall removal rate of ZnO-NPs in the kaolin environment was slightly higher than that in the pure-water environment. In contrast the removal rate of ZnO-NPs in the PAFC/CPAM was significantly higher than that of PAFC or CPAM alone. The coagulation removal conditions of ZnO-NPs were optimized using a response-surface model. Under the best conditions, the removal rate of ZnO-NPs with an initial mass concentration of 30 mg/L in the PAFC/CPAM combination in pure-water and kaolin environments was 98.54% and 99.17%, respectively. Finally, by studying the changes in floc size during coagulation, enhanced coagulation was an efficient method of removing ZnO-NPs from water.

Municipal sludge is characterized by high organic matter content, high viscosity, and fine particles, resulting in poor dewatering performance. This article analyzes the composition and properties of municipal sludge, examines the factors affecting the dewatering performance of sludge and the mechanisms corresponding to each influencing factor, and introduces chemical conditioning in detail. Chemical conditioning includes flocculation conditioning, oxidation conditioning, acid-base conditioning, and aggregate conditioning. The principles and applications of existing sludge conditioning technologies are systematically analyzed. By comparing the advantages and disadvantages of different technologies, it is pointed out that the key to developing sludge conditioning technology lies in developing a more appropriate combination of the sludge conditioning and dewatering process according to the sludge quality of different municipal wastewater treatment plants, taking into account their local environment, input costs, subsequent sludge disposal methods, and other factors, and further optimizing the sludge dewatering process by developing new efficient and environmentally friendly sludge conditioning agents.

In this paper, a high-efficiency and stable Cu-Ce@γ-Al2O3 catalyst was prepared by taking the reverse osmosis (RO) concentrated water of a sewage treatment plant as the treatment object and activated alumina as the carrier. The preparation factors that affected the catalytic activity of Cu-Ce@γ-Al2O3 were investigated. SEM, EDS, XRD, BET, XRF, and XPS techniques were applied to characterize the catalyst. Optimal working conditions, and degradation mechanism of RO concentrated water were researched. In comparison with the ozone oxidation alone, the Cu-Ce@γ-Al2O3 catalytic ozonation has more reactive groups, significantly improving the treatment effect. Characterization results show that Cu and Ce are successfully supported on the surface of the activated alumina support and mainly exist in the form of oxides (e.g., CuO and CeO2). The loading of metal led to a larger specific surface area and pore volume. The repeated use had an insignificant effect on the peaks of Cu2p and Ce3d energy spectra and caused a small loss of active components. Under these conditions, the removal rate of COD from RO concentrated water by Cu-Ce@γ-Al2O3 catalyst was 85.2%. The stability and salt tolerance of Cu-Ce@γ-Al2O3 catalysts were investigated by catalyst wear rate and repeated use times, respectively. The degradation of organic matter and residual tryptophan-like organic compounds were observed through UV absorption spectroscopy and 3D-EEM. Hydroxyl radicals participated in organic pollutants degradation. Finally, a multi-level-fuzzy analysis evaluation model was developed to quantitatively assess the catalytic ozone oxidation system of the Cu-Ce @γ-Al2O3 catalyst for the treatment of RO concentrated water.

Colorectal cancer (CRC) is a common malignant tumor, and its incidence ranks third and mortality rate ranks second in the world. Cisplatin cannot target CRC cells and has notable toxicity, which significantly limits its clinical application. The emerging PEGylated nanodrug delivery system can improve circulation time and enhance tumor targeting. In this study, the HA-mPEG-Cis NPs were synthesized by self-assembly, which can target CD44-positive CRC cells and dissolve the PEG hydration layer responsive to the weakly acidic tumor environment. The average hydrodynamic diameter of HA-mPEG-Cis NPs was 48 nm with the polydispersity index of 0.13. The in vitro cisplatin release was in a pH-responsive manner. The HA-mPEG-Cis NPs group showed the highest apoptosis rate (25.1%). The HA-mPEG-Cis NPs exhibited antitumor efficacy via the PI3K/AKT/mTOR signaling pathway. The HA-mPEG-Cis NPs showed the lowest tumor volume and weight among all the groups in CT26 cell-bearing mouse model. The HA-mPEG-Cis nanodrug delivery system not only increases the stability and circulation time but also reduces the side effects of loaded cisplatin. Overall, the in vitro and in vivo experiments confirmed the satisfied antitumor efficacy of HA-mPEG-Cis NPs. Therefore, this study provides a rational design for application of pH-responsive HA-mPEG-Cis nanodrug delivery system in the future.

In this paper, a novel mechatronic design philosophy is introduced to develop a compact modular rotary elastic joint for a humanoid manipulator. The designed elastic joint is mainly composed of a brushless direct current (DC) motor, harmonic reducer, customized torsional spring, and fail-safe brake. The customized spring considerably reduces the volume of the elastic joint and facilitates the construction of a humanoid manipulator which employs this joint. The large central hole along the joint axis brings convenience for cabling and the fail-safe brake can guarantee safety when the power is off. In order to reduce the computational burden on the central controller and simplify system maintenance, an expandable electrical system, which has a double-layer control structure, is introduced. Furthermore, a robust position controller for the elastic joint is proposed and interpreted in detail. Vibration of the elastic joint is suppressed by means of resonance ratio control (RRC). In this method, the ratio between the resonant and anti-resonant frequency can be arbitrarily designated according to the feedback of the nominal spring torsion. Instead of using an expensive torque sensor, the spring torque can be obtained by calculating the product of spring stiffness and deformation, due to the high linearity of the customized spring. In addition, to improve the system robustness, a motor-side disturbance observer (DOb) and an arm-side DOb are employed to estimate and compensate for external disturbances and system uncertainties, such as model variation, friction, and unknown external load. Validity of the DOb-based RRC is demonstrated in the simulation results. Experimental results show the performance of the modular elastic joint and the viability of the proposed controller further.

Over-activation of NMDA receptors is a crucial step required for brain damage following a stroke. Although clinical trials for NMDA receptor blockers have failed, the role of GluN2A subunit in cerebral ischemia has been extensively evaluated in recent years. However, the effect of GluN2A on neuron damage induced by cerebral ischemia remains a matter of controversy. The underlying reason may be that GluN2A mediates both pro-death and pro-survival effects. These two effects result from two mutually excluding pathways, Ca2+ overload-dependent pro-death signaling and C-terminal-dependent pro-survival signaling, respectively. During the early stage of cerebral ischemia, over-activation of GluN2A plays an important role in Ca2+ overload. Under this condition, pro-death signaling might overcome pro-survival signaling. When GluN2A activity is restored almost to the normal level over time, pro-survival signaling of GluN2A will be dominant. The hypothesis that GluN2A promotes neuron death and survival in the early stage of cerebral ischemia and thereafter will be introduced in detail in this review.