As one of the efficient, continuous and clean hydrogen production methods, electrochemical water splitting depends on economical, efficient and stable electrocatalysts to a great extent. In this paper, Co2+ and Ni2+ were adsorbed on cation exchange resin by stirring and soaking, and then a series of cobalt-nickel bimetallic phosphides NiCoP-x@C were synthesized by high temperature calcination. The experimental results show that NiCoP-x@C has a porous structure and is rich in porous nanoparticles, which makes a major contribution to OER. In addition, bimetallic doping and the increase of P content also promote the catalytic activity of oxygen evolution reaction. For OER, the overpotential of NiCoP-2B@C is 366 mV, and Tafel is 52.09 mV dec-1. This paper provides a new strategy for the design and preparation of OER catalysts.

Flocculation has been widely used in the treatment of dye wastewater for its advantages of simplicity and low cost. Introducing cationic groups into flocculants can improve the removal performance of dyes and accelerate the settling rate of floc.Cellulose was modified with cationic etherification agent 3-chloro-2-hydroxypropyl trimethylammonium chloride (CHTPAC) to prepare amphotericin (CMCCTA). Polyaluminum-titanium-amphoteric cellulose composite flocculant was prepared by using sodium silicate, aluminum sulfate and titanium sulfate as raw materials and amphoteric cellulose. The optimum conditions for synthesis of amphotic cellulose and preparation and application of composite flocculant were investigated by single factor experiment. The removal rate of Congo red could reach 95%. It was characterized by FTIR, XRD and SEM. The results showed that amphoteric cellulose and polysilicic acid were successfully combined. The amphoteric flocculant prepared in this study has the characteristics of environmental protection and high efficiency. The introduction of metal ions and amphoteric cellulose improves the flocculation effect and enhances the stability of polysilicate, which has a good application prospect.

ZrO2/Na-β and ZrO2/H-β catalysts which ZrO2 supported on Na-β and H-β molecular sieves were prepared by impregnation method, and applied to the MPV reduction reaction of cyclohexanone and isopropanol to examine their catalytic properties. The catalysts were also characterized by XRD, SEM-EDS, NH3-TPD, BET specific surface area and pore structure, and ICP-MS. The products were identified by gas chromatography-mass spectrometer and analyzed and gas chromatography. The experimental results showed that ZrO2/H-β exhibited higher catalytic activity compared with H-β, Na-β, ZrO2/Na-β for the MPV reduction reaction of cyclohexanone and isopropanol. Due to ZrO2/H-β possesses both Zr and Al acid centers, these promote that the catalytic efficiency of MPV reaction of cyclohexanone and isopropanol was further improved. 6%ZrO2/H-β was used as the catalyst, the molar ratio of cyclohexanone to isopropanol was 1:20, and the dosage of catalyst was 6% of the total mass of the reactants. The reaction was carried out at 80 ℃ for 5 h. Based on cyclohexanone, the Area-normalized calculation, the conversion rate of cyclohexanone was 91.2%. The catalyst can be regenerated by calcination. The conversion rate of cyclohexanone decreases to 79.4% after 5 times of recycle, while the dried catalyst loses part of its activity after 1 time of recycle. The service life of the catalyst needs further study to improve.

The extraction process and biological activity of soapberry saponin were studied in order to make better use of soapberry. The crude extract of soapberry saponin was obtained by the process of soapberry peel powder, solution suction filtration, rotary evaporation and other processes. N-butanol and other reagents were used to obtain soapberry saponin essence products through dissolution, layered extraction and rotational evaporation for crude extracts. Oleanolic acid was selected as the standard to draw a standard curve, and the saponin content, yield and purity were calculated. The saponin detergency detergency was determined by photoelectric colorimetry, the antibacterial activity was detected by the twofold dilution method of the test tube, and the antioxidant activity was tested based on the determination method of hydroxyl radical action. The experimental results showed that the purity and yield of soapberry saponin are higher under the condition of raw material powder treatment and particle size of 20-60 mesh. When the concentration of absolute ethanol solution is 70%, the yield of saponin reaches the upper limit. When the extraction ratio is 1:12, the saponin content is the highest. The decontamination and antibacterial properties of saponin solution are higher than those of saponin concentrate after fermentation. The antioxidant activity of soapberry saponins is good.

Oxytetracycline (OTC) belonged to the tetracycline class of antibiotics, which entered the environment due to the use of human production and life. Oxytetracycline in the soil environment may affect its migration and transformation in the soil through different forces interacting with the soil, affecting its toxicity to organisms, and then causing serious harm to the soil ecological environment. Therefore, studied the environmental behavior of antibiotics in the soil can provide theoretical support for the treatment of soil environmental antibiotics. Using oxytetracycline as adsorbent and cold black soil as adsorbent, the adsorption behavior of oxytetracycline on different components of cold black soil was studied, and the effect of pH change on the adsorption of oxytetracycline in cold black soil was analyzed, and the adsorption mechanism of oxytetracycline was explored.The results show that under experimental conditions, the adsorption of different components of oxytetracycline in cold black soil is more in line with the Langmuir model, and multilayer adsorption and monolayer adsorption coexist, with monolayer adsorption as the mainstay; Soils that remove organic matter have the strongest adsorption capacity for oxytetracycline; The pH value has the greatest influence on the remove organic soil, the main mechanism is electrostatic action and bridging effect.

Due to the slow speed of the Rapid Expansion Random Tree (RRT) algorithm in path planning，computationally intensive and inefficient,In this paper, a path planning based on the combination of Two-Way Rapidly Extended Random Tree (RRT) algorithm and Artificial Potential Field Method (APF) was proposed.Firstly, the local path planning is carried out by using the artificial potential field method (APF) to provide the motion path.Secondly, by using the improved fast-expanding random tree algorithm to select the temporary target points,In order to solve the problem of falling into the minimum value in path planning, the artificial potential field method (APF) was introduced into the bidirectional RRT algorithm.Combine local path planning with global path planning to reduce run time and path length,Based on simulation experiments, the proposed method is significantly improved in terms of running time, path length and iteration times.

An improved algorithm based on YOLOv5s was proposed in order to accurately identify different fruit targets on fruit trees and solve problems such as unsatisfactory fruit recognition accuracy. Firstly, the EIoU loss function is applied to YOLOv5s to minimize the difference between the width and height of the target frame and the anchor frame. Secondly, the ECA-Net attention mechanism was added to the backbone network to better extract the characteristics of different fruit targets. The experimental results show that YOLOv5s+ECA+EIoU loss has obvious comprehensive performance advantages. Compared with several existing network algorithms, various data of the improved algorithm is superior to other algorithms, thus verifying the effectiveness of the improved algorithm and providing necessary technical support for the research of object detection during robot picking.

An improved Harris Hawk Optimization Algorithm is proposed to optimize the position information of light sources in traditional indoor four light source layouts, addressing the issues of uneven reception power and uneven illumination in visible light communication. Simulation with Matlab R2018b shows that the optimized light source layout in this paper has a more uniform power distribution, with a power variance of 0.359dBm, an illumination range of 368.32lx~665.18lx, and an illumination uniformity of 72.25%, all of which are better than the original light source layout, PSO algorithm, and HHO algorithm optimized light source layout. Therefore, the proposed light source layout optimization method in this paper has a significant improvement effect on indoor visible light communication.

In order to enhance the ability of disturbance rejection and improve the accuracy of trajectory tracking control for ball and plate system, this article proposed a time-varying fast terminal sliding mode control based on backstepping technology. Firstly, the kinematic model of the ball and plate system is established, and a reasonable control strategy was determined on the basis of the system characteristics and control requirements. Secondly, taking the X-axis as an example, the time-varying sliding mode control law and low-pass filter containing the hyperbolic tangent function are designed, and the stability of closed-loop systems was obtained under the framework of Lyapunov stability theory. The simulation results show that the proposed method has higher control accuracy, stronger disturbance rejection ability and better control effect.

Aiming at the low efficiency of the traditional manual sorting and recycling of industrial scraps, based on Siemens S7-200 SMART PLC, the automatic sorting control system of industrial scraps is designed, the control screen design of the upper computer is completed, and the centralized control of the automatic sorting processof industrial scraps is realized. The actual operation test showed that the system effectively improves the sorting efficiency of industrial scraps and reduces the labor costs.

Deethane distillation is an important process in ethylene production,and controlling the top pressureof the tower to maintain stability is a key link in the safe and stable production of deethane.In response to theproblem of difficult convergence of pressure in the de ethane distillation tower of a certain enterprise under loaddisturbance,a tower top pressure flow cascade automatic control system was designed based on S7-300PLC.Inorder to avoid sharp changes in the output of the differential term caused by changes in the set value,controlledvariable differentiation was used instead of deviation differentiation in the differential algorithm of the subcontroller.The system achieved good control effect in the simulation results,This provides a certain referenceand inspiration for the transformation and upgrading of actual production process control systems.

In the era of big data, there is a lot of information, but there is very little data that is really valuable to you. It is crucial to retrieve the data you really need from the redundant data. The traditional search system is only able to display the data that has appeared, not able to integrate, calculate and other processing of the data. This paper uses NL2SQL technology to implement the search system. First, we construct the heterogeneous graph structure to preprocess the data, then encode the heterogeneous graph into a high-dimensional hidden layer vector by the self-attention mechanism of relative position, and finally decode the high-dimensional hidden layer vector into SQL statements by the tree decoder. This can better meet the real needs of users, who can interact with the database more freely and fully exploit the value of the data.

Long-term wind speed forecasting is an important research topic in many fields, including power market restructuring, energy management, and wind farm optimal design. However, precise values alone are not enough to fully describe the changing trend of long-term wind speed forecasts. In contrast, interval variation and semantics can provide more comprehensive long-term wind speed forecast information. Aiming at the drawbacks of numerical forecasting of wind speed changes, this paper proposes a hybrid forecasting model that combines fuzzy cognitive maps and granular computing for forecasting. Specifically, the granular computing is used to granulate the data, and then the fuzzy cognitive map is used to predict the processed data. Compared with BP neural network, simulation experiments show that the proposed algorithm shows better performance in predicting interval values and semantics. This study highlights the importance of incorporating interval variation and semantic representation into long-term wind speed forecasts, and the proposed model can serve as a decision-making tool for wind energy industry stakeholders.

A machine vision-based aperture measurement method was proposed to address the problems of large workload, slow speed, and subjective influence of corner connector aperture measurement. Firstly, the acquired image was greyed out, binarised, and converted to improve the image processing speed, locate the location of the corner connector quickly, and establish an accurate object-image relationship. Then, the Canny edge detection operator was used to extract the corner connector aperture contour at the pixel level to obtain a complex polygon contour. Finally, a caliper tool was built on the smallest outer circle of the complex contour to achieve sub-pixel precision extraction of the corner connector aperture edge. The experimental results show that the maximum measurement error of the method is less than 0.03 nm, the repeatability measurement accuracy is approximately 0.01 nm, and the measurement time of the system is 126 nm. Therefore, the method can meet the measurement accuracy requirements of the corner connector aperture and the measurement data has good stability; it can meet the needs of high-volume, high-intensity, real-time online inspection, and has good application prospects.

Combining machine vision technology with traditional electronic scale, using the camera to collect fruit and vegetable images, using deep learning reasoning to identify fruit and vegetable categories, reading the weight data through the electronic weighing module, and create a fruit and vegetable commodity database to obtain the unit price of goods, and finally automatically calculate the total price displayed on the screen, design and develop the system client and server. The realization of each function of the system, and the function of the test.

The group of disabled elderly people has gradually become the focus of social attention as the population is aging and getting older, especially the elderly with moderate to mild disability, most of this group has difficulty in completing standing and walking actions, such as getting in and out of bed, going to the toilet, walking indoors, etc. This paper designs a mobility device to meet the needs of the elderly to get in and out of bed and daily activities according to the difficulties of sitting, standing, squatting and walking of the elderly with moderate to mild disability. tracing automatic parking technology to safely realize the problem of obstacle avoidance and steering in narrow spaces such as bedside toilets.