Abstract: The present disclosure provides a positioning method, including: obtaining a current local topology map established based on objects in an environment currently observed by a robot, obtaining a full topology map pre-established based on objects in a full environment in a preset area, the current local topology map and the full topology map including nodes representing the objects; matching a node pair to be associated constructed by two nodes in the current local topology map and two nodes in the full topology map; if a degree of association of the node pair to be associated is greater than a threshold, determining that the node pair to be associated is an associated node pair; and determining a pose of the robot according to one of a plurality of search ranches, with a largest number of associated node pairs.

Abstract: An integrated device and method for treating toxic and refractory wastewater are provided. The integrated device includes an adjusting pool, a first-stage reactor, a second-stage reactor, a third-stage reactor, a coagulation sedimentation pool, and a biochemical reaction pool that are sequentially connected in series, and further includes an aeration blower. Each of the first-stage reactor and the third-stage reactor is an advanced oxidation reactor, and the second-stage reactor is a Fenton reactor. The coagulation sedimentation pool includes 2 to 4 stages, and each stage of the coagulation sedimentation pool includes a coagulation tank, a primary sedimentation tank, and a secondary sedimentation tank that are connected in series. The biochemical reaction pool includes an anoxic tank, an aerobic tank, a settling tank, and a clean water tank that are connected in series.

Abstract: An integrated device and method for treating toxic and refractory wastewater are provided. The integrated device includes an adjusting pool, a first-stage reactor, a second-stage reactor, a third-stage reactor, a coagulation sedimentation pool, and a biochemical reaction pool that are sequentially connected in series, and further includes an aeration blower. Each of the first-stage reactor and the third-stage reactor is an advanced oxidation reactor, and the second-stage reactor is a Fenton reactor. The coagulation sedimentation pool includes 2 to 4 stages, and each stage of the coagulation sedimentation pool includes a coagulation tank, a primary sedimentation tank, and a secondary sedimentation tank that are connected in series. The biochemical reaction pool includes an anoxic tank, an aerobic tank, a settling tank, and a clean water tank that are connected in series.

Abstract: A method for electrolysis-ozone-corrosion inhibitor/electrolysis-ozone-hydrogen peroxide-corrosion inhibitor coupling treatment on toxic and refractory wastewater includes the following steps: adding toxic and refractory wastewater to be treated into a wastewater treatment reaction tank equipped with a plate anode and a plate cathode, and starting a direct current (DC) power supply connected to the plate anode and the plate cathode to treat the toxic and refractory wastewater at an appropriate current density under stirring, during which a corrosion inhibitor and hydrogen peroxide are added to the toxic and refractory wastewater to be treated and ozone is introduced into the toxic and refractory wastewater to be treated through an aeration device. The method can increase the production rate and production quantity of free radicals in a reaction system, effectively improve the treatment efficiency for toxic and refractory wastewater, and reduce the treatment cost.

Abstract: The invention provides an optical super-resolution microscopic imaging system comprising a dichroic beamsplitter for annular parallel light to transmit through; a focusing lens used for converging the annular parallel light transmitted through the dichroic beamsplitter; a confocal pinhole for the annular parallel light after being converged to pass through to filter the annular parallel light; a varifocal lens system for collimating the annular parallel light passing through the confocal pinhole into excited annular parallel light; and a detector for receiving and processing fluorescence emitted by the excited sample, the fluorescence emitted by the excited sample being returned by the same way, and the dichroic beamsplitter separating the fluorescence emitted by the sample from an annular parallel light path and turning the fluorescence to the detector to obtain a super-resolution image of the sample.

Abstract: A method for electrolysis-ozone-corrosion inhibitor/electrolysis-ozone-hydrogen peroxide-corrosion inhibitor coupling treatment on toxic and refractory wastewater includes the following steps: adding toxic and refractory wastewater to be treated into a wastewater treatment reaction tank equipped with a plate anode and a plate cathode, and starting a direct current (DC) power supply connected to the plate anode and the plate cathode to treat the toxic and refractory wastewater at an appropriate current density under stirring, during which a corrosion inhibitor and hydrogen peroxide are added to the toxic and refractory wastewater to be treated and ozone is introduced into the toxic and refractory wastewater to be treated through an aeration device. The method can increase the production rate and production quantity of free radicals in a reaction system, effectively improve the treatment efficiency for toxic and refractory wastewater, and reduce the treatment cost.

Abstract: The invention provides an optical super-resolution microscopic imaging system comprising a dichroic beamsplitter for annular parallel light to transmit through; a focusing lens used for converging the annular parallel light transmitted through the dichroic beamsplitter; a confocal pinhole for the annular parallel light after being converged to pass through to filter the annular parallel light; a varifocal lens system for collimating the annular parallel light passing through the confocal pinhole into excited annular parallel ligh; and a detector for receiving and processing fluorescence emitted by the excited sample, the fluorescence emitted by the excited sample being returned by the same way, and the dichroic beamsplitter separating the fluorescence emitted by the sample from an annular parallel light path and turning the fluorescence to the detector to obtain a super-resolution image of the sample.

Abstract: The present invention discloses a built-in detection device and a detection method thereof for disposable diapers which relates to the technical field of intelligent diapers and includes a circuit substrate attached inside the diaper and an alarm module placed outside the diaper, wherein the circuit substrate is provided with a core circuit region, a temperature sensor, a urine-wet sensor group and a bioelectrogenesis module. The core circuit region includes a power management module, a data acquisition module and a wireless transmitting module. The data acquisition module is electrically connected to the power management module, the urine-wet sensor group, the wireless transmitting module, and the temperature sensor, respectively. The power management module is electrically connected to the bioelectrogenesis module. The wireless transmitting module is connected to the alarm module in wireless transmission.

Abstract: An apparatus for producing diesel fuel and jet fuel using Fischer-Tropsch synthetic oil, the apparatus including a hydrofining reactor, a hot separator, a first rectifying column, a hydrocracking reactor, a hydroisomerization reactor, a second rectifying column, a first mixing chamber and a second mixing chamber. The hydrofining reactor includes a raw material inlet and a hydrofining product outlet. The hot separator includes a separated oil outlet and a hydrofining product inlet which is connected to the hydrofining product outlet. The first rectifying column includes a tail oil fraction outlet, a diesel fraction outlet and a separated oil inlet which is connected to the separated oil outlet. The first mixing chamber includes a circulating hydrogen inlet, a first mixture outlet and a tail oil fraction inlet which is connected to the tail oil fraction outlet.

Abstract: The present invention discloses a built-in detection device and a detection method thereof for disposable diapers which relates to the technical field of intelligent diapers and includes a circuit substrate attached inside the diaper and an alarm module placed outside the diaper, wherein the circuit substrate is provided with a core circuit region, a temperature sensor, a urine-wet sensor group and a bioelectrogenesis module. The core circuit region includes a power management module, a data acquisition module and a wireless transmitting module. The data acquisition module is electrically connected to the power management module, the urine-wet sensor group, the wireless transmitting module, and the temperature sensor, respectively. The power management module is electrically connected to the bioelectrogenesis module. The wireless transmitting module is connected to the alarm module in wireless transmission.

Abstract: A method of hydrotreatment of Fischer-Tropsch synthesis products, the method including: 1) mixing Fischer-Tropsch wax with a sulfur-containing liquid additive, contacting a resulting mixture with hydrogen, feeding a hydrogen-containing mixture to a first reaction region, feeding an effluent from the first reaction region to a second reaction region, and carrying out hydrocracking reaction; 2) feeding a hydrocracking product from the second reaction region and Fischer-Tropsch naphtha and diesel fuel to a third reaction region, carrying out hydrofining reaction; feeding an effluent from the hydrofining reaction to a fourth reaction region, and carrying out hydroisomerizing pour-point depression reaction; and 3) feeding an effluent from the fourth reaction region to a gas-liquid separation system to yield hydrogen-rich gas and liquid products, recycling the hydrogen-rich gas, and feeding the liquid products to a distilling system.

Abstract: An apparatus for producing diesel fuel and jet fuel using Fischer-Tropsch synthetic oil, the apparatus including a hydrofining reactor, a hot separator, a first rectifying column, a hydrocracking reactor, a hydroisomerization reactor, a second rectifying column, a first mixing chamber and a second mixing chamber. The hydrofining reactor includes a raw material inlet and a hydrofining product outlet. The hot separator includes a separated oil outlet and a hydrofining product inlet which is connected to the hydrofining product outlet. The first rectifying column includes a tail oil fraction outlet, a diesel fraction outlet and a separated oil inlet which is connected to the separated oil outlet. The first mixing chamber includes a circulating hydrogen inlet, a first mixture outlet and a tail oil fraction inlet which is connected to the tail oil fraction outlet.

Abstract: A method of hydrotreatment of Fischer-Tropsch synthesis products, the method including: 1) mixing Fischer-Tropsch wax with a sulfur-containing liquid crystal, contacting a resulting mixture with hydrogen, feeding a hydrogen-containing mixture to a first reaction region, feeding an effluent from the first reaction region to a second reaction region, and carrying out hydrocracking reaction; 2) feeding a hydrocracking product from the second reaction region and Fischer-Tropsch naphtha and diesel fuel to a third reaction region, carrying out hydrofining reaction; feeding an effluent from the hydrofining reaction to a fourth reaction region, and carrying out hydroisomerizing pour-point depression reaction; and 3) feeding an effluent from the fourth reaction region to a gas-liquid separation system to yield hydrogen-rich gas and liquid products, recycling the hydrogen-rich gas, and feeding the liquid products to a distilling system.

Abstract: A method for recovering ruthenium from a spent ruthenium-based catalyst carried on aluminum oxide includes: drying, calcining, and cooling a spent catalyst; grinding the spent catalyst into black powder; placing the black powder in a fluidized bed reactor, purging the reactor with hydrogen and heating the black powder to obtain ruthenium metal, then heating the black powder in a mixed atmosphere of oxygen and ozone to obtain RuO4 gas; absorbing the RuO4 gas with a sufficient amount of hydrochloric acid to obtain a H3RuCl6 solution; adding an excess oxidant to the H3RuCl6 solution to oxidize the H3RuCl6 into H2RuCl6; adding excess NH4Cl to the H2RuCl6 and then filtering, and washing the filter cake to obtain solid (NH4)2RuCl6; and reducing the solid (NH4)2RuCl6 by hydrogen to obtain ruthenium metal.

Abstract: An input system is applicable to a computer. The input system includes a wireless operating apparatus and a portable electronic apparatus. The wireless operating apparatus includes an operating unit and a wireless transmitting unit. The operating unit generates data information. The wireless transmitting unit is electrically connected to the operating unit, and is used to transmit the data information in a wireless manner. The portable electronic apparatus includes a display device, a wireless receiving unit, and a data transmission port. The wireless receiving unit is electrically connected to the display device and the data transmission port, and is used to receive the data information from the wireless transmitting unit of the wireless operating apparatus. The data transmission port transmits the data information to the computer by using a data transmission line. Therefore, a portable electronic apparatus is used as a wireless transceiver.

Abstract: A keyboard includes a main board and at least one key structure positioned on the main board. The key structure includes a key switch and a key cap. The key cap is combined with the key switch. The key switch includes a key base and a shaft movably positioned on the key base. The keycap includes a main body and a cushion member. The main body is positioned on the shaft of the key switch. The main body is spaced apart from the contact surface of the key base. The main body is moved forward and backward relative to the key base with movement of the shaft. The cushion member is positioned at one side of the main body facing the contact surface. While the main body is moved to the contact surface, the cushion member abuts on the contact surface, so as to avoid the main body from hitting the key base directly, and hence minimizing the noise that is produced by the moving parts.

Abstract: A remote operating system includes a remote server, a computer device, and an operating device. The remote server includes a first communication module and a storage unit. The storage unit electrically connects to the first communication module and stores at least one macro and at least one shortcut application program. The computer device includes a transmission port and a second communication module. The second communication module electrically communicates with the first communication module and receives the macro and/or the shortcut application program from the remote server. The operating device includes an operating member and a transmission interface. The operating member is used to generate a control signal. The transmission interface electrically connects to the operating member and the transmission port so as to transmit the control signal to the computer device. When the transmission port receives the control signal, the computer device responds to execute the macro.

Abstract: A method for preparing solid ruthenium nitrosyl nitrate, including: 1) drying a ruthenium-containing spent catalyst, and calcining the spent catalyst, and cooling to room temperature, whereby yielding a ruthenium-containing solid; 2) grinding the ruthenium-containing solid to yield a powder, introducing the powder to a fluidized bed reactor, aerating the fluidized bed reactor with nitrogen or an inert gas, charging hydrogen, whereby yielding ruthenium metal; 3) contacting a mixed gas of ozone and air with the ruthenium metal, whereby yielding gaseous ruthenium tetroxide; 4) introducing the gaseous ruthenium tetroxide into a three-stage absorption plant, whereby yielding an acid solution including ruthenium nitrate; 5) adding a solid of sodium nitrite to the acid solution, stirring, and heating a resulting solution, whereby yielding a solution of ruthenium nitrosyl nitrate; and 6) extracting the solution of ruthenium nitrosyl nitrate with anhydrous ether.

Abstract: A method for preparing crystalline cobalt nitrate. The method includes: 1) calcining a spent Co/SiO2 catalyst, cooling the calcined material to room temperature, and grinding it to yield a powder; 2) heating the powder in a fluidized bed reactor; 3) adding the heated powder into excess dilute nitric acid solution and filtering to obtain a cobalt nitrate solution; 4) adjusting the pH value of the cobalt nitrate solution to 1.5, adding a preheated oxalic acid solution, adjusting a pH value of the resulting solution to 1.5, immediately filtering the resulting solution to yield a precipitate of cobalt oxalate, washing the precipitate of cobalt oxalate to yield a neutral filtrate; 5) drying the precipitate and calcining to yield cobalt oxide; 6) dissolving the cobalt oxide in nitric acid to yield a second cobalt nitrate solution; and 7) evaporating the second cobalt nitrate solution to obtain crystalline cobalt nitrate.

Abstract: A method for recovering cobalt, ruthenium, and aluminum from spent Co—Ru/Al2O3 catalyst. First, Co—Ru/Al2O3 spent catalyst is subjected to hydrocarbon removal, reaction with hydrogen, and alkali fusion to obtain a slag. The slag is subjected to acid leaching, precipitation of cobalt with oxalic acid or ammonium oxalate, reduction of cobalt oxalate, and dissolution of cobalt metal with nitric acid to obtain Co(NO3)2.6 H2O. The effluent of acid leaching is subjected to reaction with ethanol, filtration to obtain a filtrate and residue, dissolution of the residue with concentrated hydrochloric acid, and vacuum distillation to obtain ?-RuCl3.x H2O. Aluminum hydroxide is prepared from the filtrate through carbonation and calcination. The cobalt yield is ?97%; the ruthenium yield is ?95%, and the aluminum yield is ?92%.