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With the depletion of uranium terrestrial deposits, researchers have focused on the development of adsorbents to extract radioactive uranium from seawater/wastewater. However, the artificial manipulation of adsorbents for the cost-effective extraction of radioactive uranium from large numbers of water samples is still significantly challenging. Herein, a facile yet versatile stepwise strategy has been reported for the fabrication of adsorbents. Magnesium hydroxide (Mg(OH)2) was fabricated via the in situ conversion of a natural ore powder (magnesite), whose unique internal pore structure is highly suitable for the development of highly efficient sorbents. The coordination interaction of the synthesized adsorbent with uranium was enhanced by further introducing inexpensive molecules with water-locking properties, which resulted in superior extraction capacity and low production cost. After careful calculation, the cost per kilogram of the adsorbent was found to be about $0.21. The adsorption behaviors of the synthesized adsorbent CMC-PAM/Mg(OH)2 were investigated by batch adsorption, flow-through column adsorption (in laboratory), and field adsorption experiments in natural seawater and river. Representatively, CMC-PAM/Mg(OH)2 was exceptional in extracting uranium not only at high concentrations with sufficient capacities in a wide pH range (1584.67 mg g-1 and 454.55 mg g-1 at pH = 5 and pH = 8, respectively), but also in trace quantities including uranium in a flow-through column (55.68 mg g-1), natural seawater (8.6 mg g-1), and river (6.7 mg g-1). Inspired by this excellent performance, the effects of competitive ions on the selective adsorption of uranium by CMC-PAM/Mg(OH)2 in simulated wastewater and seawater environments were further studied. Using a combination of FTIR spectroscopic and XPS studies, it was revealed that the amine and hydroxyl groups enhanced the overall uranyl affinity of the CMC-PAM/Mg(OH)2 composite.

The lateral stability control of tractor semi-trailer plays a vital role for enhancing its driving safety, and the distributed electric drive structure of a hub motor creates opportunities and challenges for realising the lateral stability accurately. Based on the dynamics simulation software TruckSim, a nonlinear dynamic tractor semi-trailer model is established, and a MATLAB/Simulink linear three-degree-of-freedom monorail reference model is established. The upper controller adopts fuzzy proportional–integral–derivative control to export active yaw torque values of the tractor and semi-trailer. The lower controller outputs the driving/braking torque of each wheel according to the target wheel driving/braking rules and torque distribution rules. The tractor produce an active yaw torque through conventional differential braking the hub motor is installed on both sides of the semi-trailer, and the active yaw torque is produced by the coordinated control of the driving/braking torque of the hub motor and the differential braking of the mechanical braking system. To prevent wheel locking, the slip rate of each wheel is controlled. Finally, based on the TruckSim–MATLAB/Simulink cosimulation platform, cosimulation is performed under typical working conditions. The simulation results show that the control strategy proposed in this report is superior to the conventional differential braking control (ESP). It can not only improve the lateral stability of the vehicle more effectively, but also improve the roll stability.