Improved A* Algorithm for Path Planning of Spherical Robot Considering Energy Consumption.

Spherical robots have fully wrapped shells, which enables them to walk well on complex terrains, such as swamps, grasslands and deserts. At present, path planning algorithms for spherical robots mainly focus on finding the shortest path between the initial position and the target position. In this paper, an improved A* algorithm considering energy consumption is proposed for the path planning of spherical robots.

Interference Effect of Experimental Parameters on the Mercury Removal Mechanism of Biomass Char under an Oxy-Fuel Atmosphere.

In this paper, the effect of temperature, adsorption bed height, and initial mercury concentration under oxy-fuel combustion on mercury adsorption by 1% NHCl-modified biomass char was studied. Modification enriched the pore structure of biomass char and increased the number of surface functional groups. Higher temperature would lead to the destruction of van der Waals and reduce the adsorption efficiency, while the change of adsorption bed height had no obvious effect.