Solute transmission in saturated ore heap was studied numerically and experimentally. The convection-diffusion equation (CDE) used to describe the mass transportation in porous media was solved by characteristic diffe...Solute transmission in saturated ore heap was studied numerically and experimentally. The convection-diffusion equation (CDE) used to describe the mass transportation in porous media was solved by characteristic difference method to give the distribution of the concentration of ferrous ion in the ore column. To calibrate the computational model, a column test was performed using infiltration of sulfide ferrous solution (the initial concentration is c0=0.04 mol/L) on a 100 cm high column composed of ore particles smaller than 10 mm for 2.5 h. The numerical analysis shows that the results obtained from numerical modeling under the same operating conditions as used for column test are in good agreement with those from experimental procedure on the whole trend, which indicates that the model, the numerical method, and the parameters chosen can reflect the rule of ferrous ion transmission in ore heap.展开更多
A mobile robot developed by Wuhan University for full-path hotline inspection on 220 kV transmission lines was presented. With 4 rotating joints and 2 translational ones, such robot is capable of traveling along non- ...A mobile robot developed by Wuhan University for full-path hotline inspection on 220 kV transmission lines was presented. With 4 rotating joints and 2 translational ones, such robot is capable of traveling along non- obstaclestraight-line segment and surmounting straight-line segment obstacles as well as transferring between two spans automatically. Lagrange’s equations were utilized to derive dynamic equations of all the links, including items of inertia, coupling inertia, Coriolis acceleration, centripetal acceleration and gravity. And a dynamic response experiment on elemental motions of robot prototype’s travelling along non-obstacle straight-line segment and surmounting obstacles was performed on 220 kV 1∶1 simulative overhanging transmission-line in laboratory. In addition, dynamic numerical simulation was conducted in the corresponding condition. Comparison and analysis on results of experiment and numerical simulation have validated theoretical model and simulation resolution. Therefore, the dynamic model formed hereunder can be used for the study of robot control.展开更多
基金Project(06JJ30024) supported by the Natural Science Foundation of Hunan Province, ChinaProject(2004CB619206) supported by the Major State Basic Research and Development Program of China+1 种基金Project(50321402) supported by the National Science Fund for Innovative Research Groups of ChinaProject(06B052) supported by the Scientific Research Fund of Hunan Provincial Education Department of China
文摘Solute transmission in saturated ore heap was studied numerically and experimentally. The convection-diffusion equation (CDE) used to describe the mass transportation in porous media was solved by characteristic difference method to give the distribution of the concentration of ferrous ion in the ore column. To calibrate the computational model, a column test was performed using infiltration of sulfide ferrous solution (the initial concentration is c0=0.04 mol/L) on a 100 cm high column composed of ore particles smaller than 10 mm for 2.5 h. The numerical analysis shows that the results obtained from numerical modeling under the same operating conditions as used for column test are in good agreement with those from experimental procedure on the whole trend, which indicates that the model, the numerical method, and the parameters chosen can reflect the rule of ferrous ion transmission in ore heap.
文摘A mobile robot developed by Wuhan University for full-path hotline inspection on 220 kV transmission lines was presented. With 4 rotating joints and 2 translational ones, such robot is capable of traveling along non- obstaclestraight-line segment and surmounting straight-line segment obstacles as well as transferring between two spans automatically. Lagrange’s equations were utilized to derive dynamic equations of all the links, including items of inertia, coupling inertia, Coriolis acceleration, centripetal acceleration and gravity. And a dynamic response experiment on elemental motions of robot prototype’s travelling along non-obstacle straight-line segment and surmounting obstacles was performed on 220 kV 1∶1 simulative overhanging transmission-line in laboratory. In addition, dynamic numerical simulation was conducted in the corresponding condition. Comparison and analysis on results of experiment and numerical simulation have validated theoretical model and simulation resolution. Therefore, the dynamic model formed hereunder can be used for the study of robot control.
