Abstract: A self-energy-storage wheel corner module integrating omni-directional redundant steering and energy regenerative suspension, including a wheel assembly, a suspension system having an unequal-length double wishbone suspension structure, a first steering system, a drive system, a braking system, a second steering system, an energy storage system and an actuator assembly. The first steering system is a primary steering system, and has low steering delay and excellent maneuverability at high speeds. The second steering system is a redundancy of the first steering system, and contributes to the omni-directional steering of the wheel assembly, which enhances the vehicle maneuverability. A motor of the second steering system also functions as another actuation motor of the actuator assembly in an idle state to enable the suppression and energy regeneration of the suspension vibration.

Abstract: A method for stabilizing fluorides and arsenic in soil includes: step 1, adding a calcium-containing compound to the soil contaminated by fluorides and arsenic, stirring uniformly, and standing for curing; step 2, adding an iron-containing compound to the mixture obtained in step 1, stirring uniformly, and standing for curing; and step 3, adding water to the mixture obtained in step 2, optionally adding a pH adjusting agent to adjust the gravimetric water content to 30%-40%, and standing for curing. The method uses calcium-containing and iron-containing compounds in a step-by-step manner, makes full use of the advantages of different passivation materials, combines the advantages of all reagents, and establishes an economical, efficient and environmentally friendly method for stabilizing fluorides and arsenic in soil to achieve effective remediation of contaminated soil.

Abstract: A method for stabilizing fluorides and arsenic in soil includes: step 1, adding a calcium-containing compound to the soil contaminated by fluorides and arsenic, stirring uniformly, and standing for curing; step 2, adding an iron-containing compound to the mixture obtained in step 1, stirring uniformly, and standing for curing; and step 3, adding water to the mixture obtained in step 2, optionally adding a pH adjusting agent to adjust the gravimetric water content to 30%-40%, and standing for curing. The method uses calcium-containing and iron-containing compounds in a step-by-step manner, makes full use of the advantages of different passivation materials, combines the advantages of all reagents, and establishes an economical, efficient and environmentally friendly method for stabilizing fluorides and arsenic in soil to achieve effective remediation of contaminated soil.