Kinect-Based Vision System of Mine Rescue Robot for Low Illuminous Environment

This paper presents Kinect-based vision system of mine rescue robot working in illuminous underground environment. The somatosensory system of Kinect is used to realize the hand gesture recognition involving static hand gesture and action. A K-curvature based convex detection method is proposed to fit the hand contour with polygon. In addition, the hand action is completed by using the NiTE library with the framework of hand gesture recognition. In addition, the proposed method is compared with BP neural network and template matching. Furthermore, taking advantage of the information of the depth map, the interface of hand gesture recognition is established for human machine interaction of rescue robot. Experimental results verify the effectiveness of Kinect-based vision system as a feasible and alternative technology for HMI of mine rescue robot

Voltage Distribution and Flashover Performance of 220 kV Composite Insulators under Different Icing Conditions

Composite insulators are widely used in modern power systems to provide electrical insulation and mechanical support for transmission lines and substations. However, the insulation strength will decrease greatly under the combined conditions of ice-covering and contamination, and icing flashovers may take place under these serious conditions. In this paper, AC flashover tests of different artificially ice-covered 220 kV composite insulators were carried out in a multi-function artificial climate chamber under energized ice accumulation conditions. The test results indicate that, with the increasing of ice thickness, the flashover voltages decrease and tend to saturation. The icing flashover voltages can be increased by adding booster sheds, but excessive booster sheds can lead to lower flashover voltages under heavy icing conditions. The voltage distributions of the iced insulators were measured using experimental methods. The results show that, the air gaps withstand most of the applied voltage. The zinc oxide (ZnO) resistors that are contained in the insulators can influence the voltage distributions of the iced insulators, but have little affect on the icing flashover voltages. The work done in this paper can provide reference for the design and type selection of outdoor composite insulators in cold climate regions

Peroxymonosulfate activation by immobilized CoFe2O4 network for the degradation of sulfamethoxazole

Heterogeneous activation of peroxymonosulfate (PMS) has been frequently proposed for the degradation of organic pollutants via the generation of reactive oxygen species (ROS). Spinel ferrite such as CoFe2O4 shows great advantage for PMS activation but suffers from aggregation problem and lack of microstructure. Herein, network-like CoFe(2)O(4 )immobilized on volcanic rock was synthesized for PMS activation for degrading sulfa-methoxazole (SMX). The immobilized CoFe2O4 network exhibited good catalytic performance for SMX removal. Systematic investigations, including in situ ATR-FTIR and Raman spectroscopy analysis, chemical quenching experiments and electron paramagnetic resonance (EPR) tests, revealed that a redox cycle of Co2+/Co3+ induced the generation of ROS (SO4 center dot-, OH center dot & nbsp; and O-1(2)) that participated in the degradation of SMX. Background constituents (e.g., inorganic ions and natural organic matters) exhibited limited influence on SMX removal. A continuous flow-through reaction in a fixed-bed column revealed the immobilized CoFe(2)O(4 )network could efficient degrade SMX with long-term durability, which therefore can be a promising catalyst for PMS activation for the degra-dation of SMX

Peroxymonosulfate activation by immobilized CoFe2O4 network for the degradation of sulfamethoxazole

Heterogeneous activation of peroxymonosulfate (PMS) has been frequently proposed for the degradation of organic pollutants via the generation of reactive oxygen species (ROS). Spinel ferrite such as CoFe2O4 shows great advantage for PMS activation but suffers from aggregation problem and lack of microstructure. Herein, network-like CoFe(2)O(4 )immobilized on volcanic rock was synthesized for PMS activation for degrading sulfa-methoxazole (SMX). The immobilized CoFe2O4 network exhibited good catalytic performance for SMX removal. Systematic investigations, including in situ ATR-FTIR and Raman spectroscopy analysis, chemical quenching experiments and electron paramagnetic resonance (EPR) tests, revealed that a redox cycle of Co2+/Co3+ induced the generation of ROS (SO4 center dot-, OH center dot & nbsp; and O-1(2)) that participated in the degradation of SMX. Background constituents (e.g., inorganic ions and natural organic matters) exhibited limited influence on SMX removal. A continuous flow-through reaction in a fixed-bed column revealed the immobilized CoFe(2)O(4 )network could efficient degrade SMX with long-term durability, which therefore can be a promising catalyst for PMS activation for the degra-dation of SMX