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This study aims to elucidate the dyeing kinetics and thermodynamic relationships of CI Reactive Red 24 (RR24) on cotton fabrics, achieve the recycling of inorganic salts and water resources and obtain comprehensive data on color parameters, fastness and other characteristics of fabrics dyed with the recycled dyeing residual wastewater.

The dyeing wastewater obtained through advanced oxidation technology was used as a medium for dyeing cotton fabrics with RR24. The absorbance value of the dyeing residue served as an evaluation index, and the relevant kinetic and thermodynamic parameters were calculated based on this absorbance. The color parameters and fastness of the fabric samples were measured to compare the performance of different dyeing media.

Dyeing cotton with RR24 in both media follows pseudo-second-order kinetics. When dyeing with wastewater media, the dye adsorption in the first 45 min increased by 0.082–1.29 g/kg compared with conventional dyeing. Furthermore, the half-dyeing time was shortened by 4.19–11.99 min and the equilibrium adsorption amount was reduced by 0.277–0.302 g/kg. The adsorption of RR24 on cotton fabrics conformed to the Freundlich model. Fabrics dyed using recycled wastewater exhibit a deeper color, with reduced red light and enhanced blue light, resulting in an overall deeper apparent color.

These dyeing kinetics and thermodynamic properties are beneficial for comprehending and interpreting the dyeing performance and behavior of reactive dyes in dyeing wastewater. They lay a theoretical foundation for the treatment and recycling of dyeing wastewater.

This paper aims to find a suitable solution to degrade the C.I. Reactive Red 24 (RR24) dyeing wastewater by using sodium persulphate to recycle water and inorganic salts.

The effects of temperature, the concentration of inorganic salts and Na₂CO₃ and the initial pH value on the degradation of RR24 were studied. Furthermore, the relationship between free radicals and RR24 degradation effect was investigated. Microscopic routes and mechanisms of dye degradation were further confirmed by testing the degradation karyoplasmic ratio of the product. The feasibility of the one-bath cyclic dyeing in the recycled dyeing wastewater was confirmed through the properties of dye utilization and color parameters.

The appropriate conditions were 0.3 g/L of sodium persulphate and treatment at 95°C for 30 min, which resulted in a decolorization rate of 98.4% for the dyeing wastewater. Acidic conditions are conducive to rapid degradation of dyes, while ·OH or SO₄⁻· have a destructive effect on dyes under alkaline conditions. In the early stage of degradation, ·OH played a major role in the degradation of dyes. For sustainable cyclic dyeing of RR24, inorganic salts were reused in this dyeing process and dye uptake increased with the times of cycles. After the fixation, some Na₂CO₃ may be converted to other salts, thereby increasing the dye uptake in subsequent cyclic staining. However, it has little impact on the dye exhaustion rate and color parameters of dyed fabrics.

The recommended technology not only reduces the quantity of dyeing wastewater but also enables the recycling of inorganic salts and water, which meets the requirements of sustainable development and clean production.

The phenomenon of friction and wear in parallel groove clamps under wind vibration in 10 kV distribution networks represents a significant challenge that can lead to their failure. This study aims to elucidate the wear mechanism of parallel groove clamps under wind-induced vibration through simulation and experimentation.

FLUENT software was used to simulate the flow around the conductor and the parallel groove fixture, and the Karman vortex street phenomenon was discussed. The stress fluctuations of each component under breeze vibration conditions were investigated using ANSYS, and fretting experimentations were conducted at varying amplitudes.

The results demonstrate that the impact of breeze vibration on the internal stress of the parallel groove clamps is considerable. The maximum stress observed on the lower clamping block was found to be up to 300 MPa. As wind speed increased, the maximum vibration frequency was observed to reach 72.6 Hz. Concurrently, as the vibration amplitude increased, the damage in the contact zone of the lower clamping block also increased, with the maximum contact resistance reaching 78.0 µO at a vibration amplitude of 1.2 mm. This was accompanied by a shift in the wear mechanism from adhesive wear to oxidative wear and fatigue wear.

This study presents a comprehensive analysis of the fretting wear phenomenon associated with parallel groove clamps under wind vibration. The findings provide a reference basis for the design and protection of parallel groove clamps.

In response to the challenge of reduced efficiency or failure of robot motion planning algorithms when faced with end-effector constraints, this study aims to propose a new constraint method to improve the performance of the sampling-based planner.

In this work, a constraint method (TC method) based on the idea of cross-sampling is proposed. This method uses the tangent space in the workspace to approximate the constrained manifold pattern and projects the entire sampling process into the workspace for constraint correction. This method avoids the need for extensive computational work involving multiple iterations of the Jacobi inverse matrix in the configuration space and retains the sampling properties of the sampling-based algorithm.

Simulation results demonstrate that the performance of the planner when using the TC method under the end-effector constraint surpasses that of other methods. Physical experiments further confirm that the TC-Planner does not cause excessive constraint errors that might lead to task failure. Moreover, field tests conducted on robots underscore the effectiveness of the TC-Planner, and its excellent performance, thereby advancing the autonomy of robots in power-line connection tasks.

This paper proposes a new constraint method combined with the rapid-exploring random trees algorithm to generate collision-free trajectories that satisfy the constraints for a high-dimensional robotic system under end-effector constraints. In a series of simulation and experimental tests, the planner using the TC method under end-effector constraints efficiently performs. Tests on a power distribution live-line operation robot also show that the TC method can greatly aid the robot in completing operation tasks with end-effector constraints. This helps robots to perform tasks with complex end-effector constraints such as grinding and welding more efficiently and autonomously.