Search

Human-robot collaboration (HRC) in assembly is becoming increasingly popular in the field of intelligent manufacturing. However, safety concerns remain the most critical issue to be addressed. The complex assembly environment and the individual differences of workers make it challenging to ensure safety effectively. Furthermore, the concept of human-centric manufacturing also places higher requirements on safety and efficiency of HRC assembly. The application of digital twin (DT) technology has bolstered the cognitive and decision-making capabilities in the context of HRC assembly. This technological advancement provides essential support for addressing safety concerns in HRC assembly processes guided by a human-centric approach. A personalised safety detection method for HRC assembly based on DT technology is proposed. This approach involves personalised modelling and simulation of real objects within the HRC process, establishing a collision detection model based on skeleton points. Subsequently, human motion prediction methods drive safety monitoring between humans and robots. Ultimately, personalised safety warning strategies are applied to ensure the safety of the assembly process. [ABSTRACT FROM AUTHOR]

Anaerobic ammonium oxidation (Anammox) was an innovative process for nitrogen removal. In this study, the influence of sulfate in different concentrations (100, 200, 300, and 400 mg L−1) on Anammox process were investigated in nine identical sequential batch reactors, four of which were extra supplied for organics, to study the combined effect. The results indicated the obvious inhibition by sulfate which decreased the total nitrogen removal efficiency (TNRE) to 84.1%, 81.2%, 81.2%, and 72.5%, from the control results as 91.9%. Whereas, the organics addition alleviated the inhibitory effect, through consuming the oxygen in influent, promoting the secretion of protein, and inducing the denitrifying bacteria, for which the sulfate only slightly decreased the TNRE to 89.0%, 83.7%, 83.6%, and 75.7%, respectively. Candidatus Kuenenia and Denitratisoma could coexist in Anammox system and cooperatively contribute to the nitrogen removal, when treating the nitrogenous wastewater contains both sulfate and organics. [ABSTRACT FROM AUTHOR]