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This paper describes the design of a novel multi-functional rescue end-effector with tonging, shearing and grasping capabilities to meet the demands of urban catastrophe rescue applications. The tonging and shearing form and the grasping form of the end-effector are analysed. The two forms are determined using the transformations of their grasping mechanisms. Four objectives (to maximize shearing space, minimize mass, minimize the equivalent stress and minimize deformation) are proposed for selection of the optimal grasping mechanism structure. Additional objectives also involve the end-effector’s structural strength and kinematic characteristics. A nested optimization structure that is composed of the non-dominated sorting genetic algorithm II (NSGA-II) and finite element analysis is proposed to perform multi-domain and multi-objective optimization of the end-effector. To improve the optimization efficiency, a traditional synthesis technique and a sensitivity analysis are applied to reduce the outer and inner numbers of the design variables. Simulation results indicate that the values of the four target objectives are superior to those before optimization and two referenced objectives, and the end-effector mass in particular, can evidently be reduced.

Samples of Pleurotus ostreatus were exposed to fungicide carbendazim to study the effect of processing on the residues. In most cases, processing operations led to a significant decrease in residue levels in the finished products, particularly through washing, drying, and cooking processes. The results indicated that rinsing under running tap water led to more than 70.30% loss in carbendazim residues. When dried under sunlight could remove more than 70.30% residues. There was a 63.90–97.14% reduction after steaming, with processing time extending, the removal rates increased especially for lower initial residue level samples. The residue was almost completely removed by frying combined with microwave heating. Furthermore, boiling the mushrooms reduced the residue in the mushroom and no carbendazim residues were determined in the broth.

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