For the large redundant manipulator, due to its long working distance and large mass, the number of links (i.e., manipulator’s arms) that can be driven to move simultaneously is limited. Otherwise, the control accuracy and motion stability of the manipulator will deteriorate. Focusing on that, a weighted Newton iteration (WNI) algorithm for trajectory planning of the manipulator is firstly proposed, where the motion of the manipulator joints is controlled by a weight matrix, which is constant and related to each link’s energy consumption. To dynamically adjust the weight matrix according to kinematic constraints and acquire better energy efficiency, an adaptive WNI (AWNI) algorithm is further proposed. In AWNI, the weight matrix is adjusted in real-time during the planning process, with considerations of the kinematic constraints and the energy consumption of the manipulator. The switch of the links between the working state and the non-working state is made through the weight matrix to achieve flexible control of the manipulator motion. Two evaluation functions are established to validate the effectiveness of AWNI in energy saving and motion stability control. Taking a 6 degrees of freedom (DOF) manipulator as an example, simulation experiments on trajectory planning are carried out and the results show the effectiveness of the proposed AWNI algorithm.

In the general frame of energy saving, environment protection and the concept of circulareconomy, the fundamental research on the sintering technology with super deep bed,achieving energy saving and emission reduction, was carried out. At first, thecharacteristics of the process and exhaust emission in the sintering with super deep bedwas mastered through the study of the influence of different bed depths on the sinteringprocess. Then, considering the bed permeability and the fuel combustion, their influenceon the sinter yield and quality, their potential for energy saving and emission reductionwas studied. The results show that the improvement of the bed permeability and of the fuelcombustibility respectively and simultaneously, leads to an improvement of the sinteringtechnical indices, to energy saving and emission reduction in the condition of super deepbed. At 1000 mm bed depth, and taking the appropriate countermeasure, it is possible todecrease the solid fuel consumption and the emission of CO2, SO2,NOx by 10.08%, 11.20%, 22.62% and 25.86% respectively; and at 700 mm bed depth, it ispossible to reduce the solid fuel consumption and the emission of CO2,SO2, NOx by 20.71%, 22.01%, 58.86% and 13.13% respectively. This researchprovides the theoretical and technical basis for the new technology of sintering withsuper deep bed, achieving energy saving and reduction of emission.

This study uses a novel concept of capacity coupling of chiller-cooling tower system to investigate the system energy performance. System performance factor (SPF) of the chiller-cooling tower system is used in the analysis. A regression function is obtained for hourly reset of condensing water temperature so to achieve maximum SPF. The regression function includes parameters such as ambient wet bulb temperature, chiller load ratio, tower capacity ratio, and a dimensionless relative efficiency of chiller and cooling tower. The regression function has an R2 close to 1 compared to the computed results. It is found that for capacity coupling ratio of 1.1 ∼ 1.6, SPF would increase by about 3 ∼ 6% compared with a typical base control. The effect of wet air return is presented as an equivalent wet bulb temperature. It has been found that SPF would decrease significantly when higher equivalent wet bulb temperature occurs at the tower inlet.

A new technology for lubricating the work rolls during hot rolling has been successfullytested in the finishing mill of ArcelorMittal Dunkirk. This new technology allows sprayingvery low quantities of pure oil on the work rolls to reduce the rolling forces by up to20% and with an increased efficiency of 50% compared with emulsions. The lubricant was apure natural oil without any additives.