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China's coal seam permeability is low, and the original coal seam gas extraction is difficult. CO2 displacement of coal seam CH4 technology is an effective gas extraction technology. CO2 is injected into the coal seam under pressure, and competitive adsorption occurs with CH4 in the pores. The gas composition is nonuniformly distributed, and its viscosity μ is the dynamic parameter. As the gas is compressible, the pressure drops, and migration distance does not satisfy a linear relationship. Therefore, the gas transport does not conform to Darcy's law. The mass transfer process and a multicomponent gas competitive adsorption were investigated theoretically and experimentally. The adsorption characteristics and gas compressibility determine the distribution of the gas components in pores and change the gas dynamic viscosity in different regions. The change in the gas dynamic viscosity in the channel is the direct reason for the nonlinear pressure gradient and gas flow curve. The permeability and gas component affect the degree of nonlinear deviation of the gas flow and pressure gradient curve. This affects the nonlinear deviation degree of the curve by changing the gas dynamic viscosity in the pore channel during displacement. The reasonable displacement pressure is the critical pressure (PO) through experimental and theoretical analysis. [ABSTRACT FROM AUTHOR]

In this study, a novel image‐based visual servo (IBVS) controller for robot manipulators is investigated using an optimized extreme learning machine (ELM) algorithm and an offline reinforcement learning (RL) algorithm. First of all, the classical IBVS method and its difficulties in accurately estimating the image interaction matrix and avoiding the singularity of pseudo‐inverse are introduced. Subsequently, an IBVS method based on ELM and RL is proposed to solve the problem of the singularity of the pseudo‐inverse solution and tune adaptive servo gain, improving the servo efficiency and stability. Specifically, the ELM algorithm optimized by particle swarm optimization (PSO) was used to approximate the pseudo‐inverse of the image interaction matrix to reduce the influence of camera calibration errors. Then, the RL algorithm was adopted to tune the adaptive visual servo gain in continuous space and improve the convergence speed. Finally, comparative simulation experiments on a 6‐DOF robot manipulator were conducted to verify the effectiveness of the proposed IBVS controller. [ABSTRACT FROM AUTHOR]

Liquid CO2 is a non-polar fluid, and the injection of CO2 fluid into a coal seam causes a strong water–rock interaction between the inorganic minerals and organic matter in the coal and acidic fluid. The minerals in the coal are thereby corroded and precipitated to different degrees, and the organic matter is dissolved and extracted, which further changes the physical and chemical properties of the coal and rock. Three kinds of coal samples with different metamorphic degrees were selected as the research objects, and the research methods of theoretical analysis and experimental testing were used to carry out the related research on the modification of coal by liquid CO2 extraction and dissolution. After the three kinds of coal samples were extracted by liquid CO2, the pore specific surface area decreased and the CO2 adsorption decreased with the increase in extraction pressure. The reduction in anthracite adsorption was greater than that of bituminous coal and lignite; after being corroded by different CO2 pressures, the adsorption capacity of bituminous coal gradually increased with the increase in corrosion pressure, and the increase in adsorption capacity of bituminous coal was larger than that of anthracite and lignite. After corrosion, bituminous coal was suitable for CO2 geological storage. [ABSTRACT FROM AUTHOR]