The contradiction between industrial economic development and the ecological environment in Northwest China is prominent, so the green transformation of industrial economy in this region is imperative. From the perspective of industrial ecology, this study uses economic and environmental statistics from Northwest China from 2006 to 2018 as well as the Krugman specialization index and entropy index methods to calculate the degree of different types of industrial agglomeration in Northwest China. The eco-efficiency of Northwest China is calculated by the global SBM-DDF model. On this basis, the stochastic effect panel tobit regression model is used to analyze the influence and mechanism of different types of industrial agglomeration on eco-efficiency in Northwest China. The results show that the concentration of specialization has a significantly negative effect on the eco-efficiency of Northwest China at the level of 1%. Excepting Ningxia, the eco-efficiency of other provinces has been improved with the decrease of industrial specialization. The influence of the related diversification agglomeration on the eco-efficiency in Northwest China shows a U curve. The degree of industrial correlation diversification in Qinghai and Ningxia is less than the critical value 1.45, whereas Shaanxi, Gansu, and Xinjiang have crossed the inflection point. The unrelated diversification agglomeration has a negative effect on the eco-efficiency of Northwest China at the level of 1%, and the degree of industrial independent diversification in Shaanxi Province has decreased slightly, which is beneficial to the improvement of eco-efficiency. By contrast, other provinces have increased considerably. The conclusion can provide a theoretical basis for industrial green transformation path selection and related policy formulation in Northwest China.

In this paper, a cleaning robot is designed to remove the marine fouling attached to a marine steel pile. In the following study, in order to analyse the process of cleaning marine fouling attached to a rough substrate, the barnacle is taken as a typical case in order to study the horizontal cutting force in the scarping process for removing barnacles on a rough substrate. The adhesion model of the barnacle was established on a rough rigid substrate. Considering both right angle cutting theory and the Peel Zone method, a scraping means and horizontal cutting force model for rough surface cleaning are proposed for the study of the surface cleaning of steel piles. In order to make the model more accurate, the finite element method is used to analyze and compare its errors. Through comparative analysis, it is known that the relative average errors about the cutting force in the horizontal direction are less than 15%. The analysis shows that the blade rake angle and rough substrate have a great influence on the horizontal cutting force. It can be concluded that the cutting force needed to clean the barnacle attached to the surface decreases correspondingly as the rake angle of the blade increases; and the rougher the substrate is, the greater the horizontal cutting force required. It is recommended to use 60° for blade rake angle. We can use the model to predict the horizontal cutting force and blade rake angle in the design of a cleaning robot.

Southwest China is a fragile terrestrial ecosystem restricted by its geological background, which leads to a contradiction between its industrial economic development and the ecological environment. In this study, to explore the influence and mechanisms of the three industrial agglomeration modes, namely, specialization, related diversification, and unrelated diversification, on the eco-efficiency of the region, linear and nonlinear regression models were applied to the data of five Southwest provinces from 2006 to 2018. Specialization agglomeration had a significant negative impact on the eco-efficiency of four provinces outside Tibet in Southwest China. With the decrease of industrial specialization, their eco-efficiency improved. The effects of related diversification agglomeration on the ecological efficiency of four provinces outside Tibet in Southwest China showed a “U” curve. The degree of industrial diversification in these provinces exceeded the critical value of 1.46, and the effect on eco-efficiency was shown. The unrelated diversification agglomeration had a negative effect on the ecological efficiency of the four provinces outside Tibet in Southwest China. The degree of industrial-unrelated diversification in Guizhou Province increased slightly, which was not conducive to the improvement of local eco-efficiency. Additionally, it decreased significantly in other provinces, which caused the improvement of local eco-efficiency. The conclusion provides a theoretical basis for industrial green transformation path selection and related policy formulation in Southwest China.

This paper proposed a concept prototype of the arm-claw-type manipulator with a general purpose support vessel for the rapid salvage of deep submergence vehicles, aircraft, satellites, etc. The key functions were realized, including object clamping, claw butting and locking, position and posture adjustment, awareness, positioning, and navigation. The prototype was successfully tested in a lake environment on a hollow and cylindrical object. The arm-claw-type manipulator is suitable for the rapid salvage of cylindrical objects in an underwater environment to minimize the clamping force and possible clamping damage on the object being salvaged. Four propeller thrusters with a symmetrical arrangement can be used for the adjustment of position and posture in underwater environments, to match the orientation of the object. Cameras capture the profile images of the underwater salvage object and can be used for posture adjustment, but in dark, deep-water environments, sonar can be used in the place of underwater cameras.

To bridge the gap that exists in the key equipment of the new subsea production control system, the all-electric subsea gate valve actuator, and exploit subsea oil and gas resources with high reliability and safety while saving energy, this paper proposes a novel concept prototype of an all-electric subsea gate valve actuator which has the key functions of a redundant drive, failsafe closing, auxiliary override, position indication, and low-power position holding. It satisfied the electrically-driven requirements of the subsea gate valves and achieved Safety Integrity Level 3. The prototype was developed and tested successfully. The all-electric subsea gate valve actuator is suitable for controlling subsea gate valves with various sizes and rated working pressures to minimize the power consumption for the purpose of keeping the valves open and safely closing them in the event of the electrical failure. An override and position-indicating mechanism is equipped for emergency operation and the visual indication of the status of subsea gate valves.

In order to clean the marine fouling attached to marine steel piles, a scraping method is proposed in this paper. Barnacles were used to represent a typical object needing removal, in order to estimate the maximum force required in the equipment designed for use in this method. On the basis of the orthogonal cutting theory and the peel zone method, a scraping method and its cutting force model are proposed in this paper for the surface cleaning of marine steel piles. The finite element method was used to verify the analytical model errors. The comparison showed that the relative errors of the cutting force are less than 10%. Our model can be used for cutting force estimation in cleaning equipment design. Our analysis shows that the blade rake angle has a large effect on the cutting force and that the optimum blade rake angle design is a compromise between blade strength and cutting force. We conclude that increasing the blade rake angle can reduce the cutting force in this scraping process; a medium blade rake angle [30°, 60°] is recommended, considering both cutting force and blade strength.