The ETH‐MAV Team in the MBZ International Robotics Challenge

This study describes the hardware and software systems of the Micro Aerial Vehicle (MAV) platforms used by the ETH Zurich team in the 2017 Mohamed Bin Zayed International Robotics Challenge (MBZIRC). The aim was to develop robust outdoor platforms with the autonomous capabilities required for the competition, by applying and integrating knowledge from various fields, including computer vision, sensor fusion, optimal control, and probabilistic robotics. This paper presents the major components and structures of the system architectures and reports on experimental findings for the MAV‐based challenges in the competition. Main highlights include securing the second place both in the individual search, pick, and place the task of Challenge 3 and the Grand Challenge, with autonomous landing executed in less than 1 min and a visual servoing success rate of over for object pickups.     

冷轧滚筒式飞剪介绍及维护要点

通过分析飞剪的典型结构,介绍了飞剪工作原理以及冷轧飞剪的应用概况和特点,经实践总结了飞剪的检修维护要点,该经验对飞剪检修有较大的参考作用。     

泛亚C14发动机配气机构单阀系动力学分析

利用TYCON软件分别分析评价了C14配气机构中凸轮与平面挺柱之间的动力学关系、气阀落座情况、气阀弹簧各有效圈动力特性等。     

Experimental and numerical investigation of intermittent drying of timber

Intermittent drying may be of interest in the future to address energy issues. Such drying conditions are also likely to help stress relaxation through mechanosorptive creep. The influence of applying oscillations of temperature and relative humidity during the drying of beech timber on time and drying stresses is discussed in the paper by means of nonsymmetrical and loaded drying. Experimental data were used to validate a numerical model in the case of intermittent drying. The model was then used to perform a numerical investigation of the possibility of using an intermittent energy source to dry wood.     

论汽车发动机常见故障及维修技术

人们在日常生活中离不开汽车,并且汽车作为重要的交通工具随着社会的不断发展其保有量也不断提高,但随之而来的是人们对汽车发动机维修服务要求越来越高,如何科学及时地解决汽车发动机及其相关的故障对保障人们的出行要求有着重要意义。基于此,文章围绕汽车发动机的常见故障及维修技术展开研究,主要针对发动机的怠速故障、润滑油消耗异常、缺缸故障、排气故障及水温故障等方面展开论述,探究了故障产生的原因及处理方法,旨在对汽车行业工程技术人员提供一定的参考。     

非饱和土中热湿盐多场耦合过程分析

以多孔介质理论为基础研究了非稳态条件下非饱和土中温度–水分–盐分多场耦合问题。考虑到非饱和土中孔隙被液态水、溶解的盐分、水蒸气和干燥气体等填充,在质量和能量守恒的基础上获得了非饱和土中水分、气体、盐分的质量守恒方程以及能量守恒方程。考虑一维非稳态问题,选取温度、孔隙气压、孔隙水压和含盐量以及其梯度作为状态变量,得到问题的状态方程组。利用Laplace变换将时域上的状态方程转换到频域上,在给定的边界条件下,采用打靶法求解该强耦合的非线性变系数微分方程组。基于Hausdorff矩问题的稳定化算法将频域上的数值解转化到时域上,通过与已有的试验结果相比较,验证了模型的有效性。基于数值算例与参数,分析了压力梯度、温度梯度、孔隙率等条件对非饱和中温度场、水分场和盐分场分布的影响规律。     

用潜孔钻处理岩墙根底的实践

本文介绍了永平铜矿露采深孔台阶爆破后出现岩墙、根底的产生原因、处理方法和在实际处理过程中所要注意的问题。     

射速对顶置武器站连发精度的影响

为获得射速对某型顶置武器站连续射击精度的影响规律,分析射速对武器站连续射击炮口扰动的影响规律。运用虚拟样机技术,借助三维建模软件SolidWorks以及动力学分析软件RecurDyn,建立了路、车、炮一体化动力学模型,并对车载顶置武器站在不同射速的条件下分别进行了停止间和行进间连续射击的动力学仿真。仿真结果表明:通过分析武器站炮口振动特性的曲线,得到了不同射速下炮口振动特性规律,可为国内顶置武器站的研制设计和改进升级提供理论借鉴和技术参考。     

Comparative Study of 9×19 mm Ammunition Combustion Products and Residues

During the last decades, authorities’ awareness on environmental and human health impact at national and international level has increased in the field of small arms ammunition containing lead and antimony. Thus, the evolution of environmental policies regarding production and use of heavy metals and their compounds, especially in EU countries, implied extensive studies on the environmental implications of 9×19 mm caliber ammunition use, especially in indoor shooting ranges. In this context, the paper describes the experimental studies performed on Pb‐containing conventional FMJ (full metal jacketed) ammunition and comparative measurements on new ammunition designed for training. The combustion products and residues from conventional Pb‐containing ammunition and Cu‐based “greener” ammunition were compared in terms of gaseous products, metal concentration in aerosols and metal concentrations in solid residues. Gas emissions and solid residues were measured for four different types of ammunitions. The results showed that the copper content of the residue is significantly higher in case of Cu‐containing composite bullets. For the ammunition equipped with Pb bullet, an important percentage of the Pb residue is generated by erosion of the exposed part of the bullet core. On the other hand, the ammunition containing Cu‐composite bullet generates large quantities of Cu residues, which have similar environmental impact and less impact on human health. Gas analysis indicated the presence of CO and NO_x and, surprisingly, high concentrations of HCN, CH₄, and NH₃. Lower gas concentrations are obtained for the composite bullets due to an incomplete combustion of gun propellant.     

关于飞行力学理论体系的探讨

从飞行力学的基本定义和理论出发,以实践的观点和发展的观点,对飞行力学的研究对象、研究范畴、研究手段以及理论基础进行了比较深入的探讨,提出了比较完整的现代飞行力学的理论体系框架.