Steam Generator Maintenance Robot Design and Obstacle Avoidance Path Planning.

To solve the issue of inconvenient and dangerous manual operation during the installation and removal of the main pipe plugging plate in the steam generator in nuclear power plants, a ten-degree-of-freedom plugging robot was designed in the present study that includes a collaborative robotic arm coupled with a servo electric cylinder. By establishing a joint coordinate system for the robot model, a D-H parameter model for the plate plugging robot was established, and the forward and inverse kinematics were solved. The volume level approximate convex decomposition algorithm was used to fit the steam generator model with a convex packet, and an experimental simulation platform was constructed.

Fast Registration of Point Cloud Based on Custom Semantic Extraction.

With the increase in the amount of 3D point cloud data and the wide application of point cloud registration in various fields, the question of whether it is possible to quickly extract the key points of registration and perform accurate coarse registration has become a question to be urgently answered. In this paper, we proposed a novel semantic segmentation algorithm that enables the extracted feature point cloud to have a clustering effect for fast registration. First of all, an adaptive technique was proposed to determine the domain radius of a local point.

Degrade naphthalene using cells immobilized combining with low-intensity ultrasonic technique.

In this paper, we studied the naphthalene degradation by using Pseudomonas aeruginosa under low-intensity ultrasonic stimulation. In our experiment, the degradation rate of naphthalene was the main parameter. We found that low-intensity ultrasonic could not only promote the growth of immobilized P.