基于旋翼负压混合吸附的爬壁清洗机器人系统动力学性能研究

针对爬壁清洗机器人越障时,负压装置的吸附力下降导致吸附不稳定的问题,设计了一种旋翼负压混合吸附工作的多边形履带清洗机器人,并对爬行稳定性及越障性能进行了动力学分析。首先根据机器人爬壁的运动原理,建立机器人沿玻璃幕墙上的动力学模型,计算出电机理论驱动力矩;其次分析机器人在跨越障碍过程中的运动模型,结合与壁面接触的实际受力状态,对越障过程中关键阶段的本体倾翻、滑移两种失效形式进行运动学和动力学分析;然后根据玻璃幕墙实际的障碍高度,确定多边形履带的参数和理论驱动力矩的大小,并研制了实验样机进行爬行和越障试验,结果表明所设计的机器人具有良好的越障性能。     

平煤六矿大埋深高瓦斯切顶留巷技术应用与实践#br#

为保证矿井安全高效生产，针对平煤股份公司六矿戊8 32010工作面机巷平均埋深700 m、瓦斯原始含量5.12 m3/t，原始瓦斯压力0.52 MPa的情况，开展卸压切顶留巷工作。通过对留巷全过程矿压监测，分析成巷矿压分布规律，将留巷分为动压剧烈影响区、动压缓慢影响区和成巷稳定区三部分，矿压分别来源于超前支承压力和留巷内顶板短悬臂梁失稳。留巷进入稳定区后，随着巷道超前支护液压支架等支护设施的撤除，巷道会出现二次稳定过程，主要源于顶板对于巷道超前支护液压支架工作阻力的再平衡。切顶留巷技术提高了工作效率，很好地解决了矿井采掘接替紧张的问题。     

基于振动实测的非均质地层钻头失效分析与对策

四川盆地作为国内页岩气开发的重点区域,通过近几年的不断攻关和实践,机械钻速得到了提高,但由于受地层复杂、可钻性差、非均质性强等地质因素的影响,导致井下钻柱系统不良振动剧烈,容易出现钻头损坏严重、钻速较低等问题,严重影响了钻井时效。为了解决上述难题,以该盆地涪陵工区上二叠统龙潭组—中二叠统茅口组为例,采用井下振动高频测量工具的实测手段,测量了钻头—钻柱系统的动态振动加速度参数,结合地层的岩性和矿物组分分析,研究钻头失效原因与对策,并开展了现场试验。研究结果表明:①在非均质地层中钻进的钻头—钻柱系统产生了大于40 m/s~2的高幅值瞬时冲击振动,高幅值的瞬时冲击是导致钻头先期失效的主要原因;②提出了抑制高幅值的瞬时冲击振动采用"减振+增压"工具组合和避免井下工具共振的钻井参数;③采用钻井新参数的试验井比邻井的高幅值瞬时振动降低了17%,单只钻头进尺增加24%,钻头工作环境得到了较大的改善,钻头使用数量减少。结论认为,该研究成果能够有效地改善钻头—钻柱系统的振动状态,有利于达成延长钻头使用寿命的目标。     

In situ polymerization of flame retardant modification polyamide 6,6 with 2-carboxy ethyl (phenyl) phosphinic acid

A novel halogen-free flame retardant copolyamide 6,6 (FR-PA66) was prepared successfully by in situ polymerizing with adipic acid hexamethylene salt and 2-carboxy ethyl (phenyl) phosphinic acid (CEPPA). The elemental composition and chemical structure of FR-PA66 were characterized by energy dispersive X-ray spectroscopy, Fourier transform infrared spectrometer and ¹³C Nuclear magnetic resonance spectrometer. The flame retardancy, thermal stability, and morphology of char residues were also investigated by the limiting oxygen index (LOI), UL 94 test, thermogravimetric analysis, and scanning electron microscopy. The results showed that FR-PA66 samples had much better flame retardancy and char formation ability than pure PA66 after the flame retardant modification. The LOI values were increased from 24.0 to 28.0% by adding 6 wt % of CEPPA and all FR-PA66 samples were rated as V-0 rating in UL-94 test. Furthermore, the thermal stability analysis indicated that in situ polymerization with CEPPA effectively decreased the initial decomposition temperature and increased the amount of char residue. © 2019 Wiley Periodicals, Inc. J. Appl. Polym. Sci. 2019 , 137, 48687.     

Process monitoring method based on correlation variable classification and vine copula

Chemical processes are becoming increasingly complicated, leading to an increase in process variables and more complex relationships among them. The vine copula has a significant advantage in portraying the dependence of high-dimensional variables. However, as the dimensions increase, the vine copula model incurs a high computational load; such pressure greatly reduces model efficiency. Relationships among variables in the industrial process are complex. Different variables may be strongly or weakly associated or even independent. This paper proposes a process monitoring method based on correlation variable classification and vine copula. The weighted correlation measure is first used to divide variables into a correlated subspace and weakly correlated subspace. Then, two vine structures, C-vine and D-vine, are applied to the correlated and weakly correlated subspaces, respectively. This method takes advantage of C-vine for correlated variables and the flexibility of D-vine for weakly correlated variables. Finally, comprehensive statistics are established based on different subspaces. Monitoring results of the numerical system and the Tennessee Eastman process demonstrate the effectiveness and validity of the proposed method.     

煤气化废水处理工艺探讨

煤气化废水的特点是温度高、硬度高、NH3-N高、有机物含量相对不足。针对这些特点引起的运行不稳定,逐一提出解决方案,并形成一套完整的针对煤气化废水的处理工艺。     

On the performance of band-limited asynchronous DS-CDMA over nakagami-m channels

In this paper we investigated the BER performance of DS-CDMA using various chip-waveforms, which include three time-limited chip-waveforms and two band-limited chip-waveforms. Closed-form formulae were derived for evaluating the achievable bit-error rate performance with the aid of the standard Gaussian approximation, when communicating over a Nakagami-m channel. The time-limited waveforms impose a low implementational complexity, since they maybe over sampled and read from a look-up table. However, they are outperformed by the frequency-domain raised-cosine waveform as well as the optimum waveform specifically designed by Cho and Lehnert for achieving the lowest possible bit error rate     

最大塑性功原理在烧结体上限分析中的应用

最大塑性功原理又称第二塑性变分原理，在致密体塑性变形分析叶l是运用能量法进行变形力能计算的基础。本文从分析Drucker公设的亢要条件出发，证明了烧结体塑性变形最大塑性功原理的存在，片在该原理的荩础卜，推导出塑性变形的上限功率表达式，并以平面挤压条件下的上限法应用作为实例加以说明。     

8e6科技走校园路线--校园网行为管理解决方案最受青睐

8e6科技公司近日发布的一项校园网安全状况和网络行为管理调查报告显示:目前校园网关注的主要问题是安全威胁和网络带宽浪费。校园网络遇到的安全问题主要集中在防病毒和网络行为管理上,为此,网络行为管理解决方案成为改善校园网安全和应用状况的优选解决方案。大部分受访人表示,他们很愿意采用网络行为管理解决方案,用以解决目前遇到的网络行为管理问题。而选择网络行为管理解决方案时,他们比较关心的是设备的稳定性、安全性和性价比,通过网络行为管理解决方案来分析、记录网络行为以及阻断不当的上网行为,提高网络的安全性和网络带宽利用…     

以IBAC为核心处理洗浴废水的试验研究

根据洗浴废水的水质特征,采用原水→混凝沉淀-过滤→固定化生物活性炭(Immobilized Biological Activated Carbon,IBAC)→微滤膜(MF)→UV消毒→出水的工艺流程.混凝沉淀-过滤物化预处理单元可以有效地减少洗浴废水中的各类污染物.IBAC生化处理单元,实现有机污染物、LAS、浴臭等有效去除,是保证出水合格的根本措施.微滤膜发挥物理截留作用、UV消毒杀死细菌和总大肠菌群.出水水质达到＜城市供水水质标准＞(CJ/T 206-2005).