移动机器人同步定位与建图技术综述

同步定位与建图技术(SLAM)一直是移动机器人领域比较热门的研究方向,它可以给机器人提供强大的环境感知能力;传统的依靠外部位置参考来定位的方法如果无法获得时,移动机器人需要即时定位自身位置来构建增量式地图,因此SLAM技术也就应运而生;对激光SLAM和视觉SLAM的研究现状及最新标志性成果进行了介绍,重点对以相机与激光雷达融合、相机与IMU融合、激光雷达与IMU融合为代表的多传感器融合SLAM技术展开讨论、系统地梳理了几种融合方式的优势与不足,同时介绍了该领域的研究热点语义SLAM,最后讨论了SLAM技术在该领域未来的发展方向以及存在的挑战。     

面向5G-Advanced无线系统的高精度定位技术

随着定位技术的快速发展，面向5G-Advanced的高精度定位技术正受到越来越多的关注。首先，介绍了第三代合作伙伴计划（3rd Generation Partnership Project,3GPP）Rel-16和Rel-17的5G定位标准现状和Rel-18的5G-Advanced定位技术增强方向。其次，重点研究了5G正交频分复用（orthogonal frequency division multiplexing,OFDM）信号模型和载波相位定位技术需要解决的3个关键算法：基于锁相环的载波相位测量算法、基于参考终端的双差分算法和基于拓展卡尔曼滤波的用户设备（user equipment,UE）位置解算算法。最后，分析了低功耗高精度定位技术方案和基于定位参考设备的定位精度增强技术方案。     

基于遗传算法的静态逻辑拓扑设计

设计了一种遗传算法,在使用较短通路情况下实现了链路和节点的负载均衡. 在算法中采用了自然数编码、随机选取种群、简单的“双亲单子”交叉策略和固定的突变概率. 以美国国家自然科学基金网络为例进行了仿真. 对目标函数中的权值进行了讨论,分析了适应性函数值与遗传代数之间的关系,对种群选取范围与适应性函数之间的关系进行了验证.     

矿用钢丝绳润滑维护和安全管理

矿用钢丝绳应用广泛，它的维护和管理，对提高和保证钢丝绳的寿命意义重大。在介绍钢丝绳的使用工况和分析失效原因的基础上，提出要从钢丝绳的选择、日常维护和检验等各个环节予以重视，保证钢丝绳的安全。     

Frequency control system based on power factor control of asynchronous motor

Deduced the relationship between the power factor （PF） and the angular frequency according to the simplified equivalent circuit of asynchronous motor, forming a power factor auto-control system. An anti-interference circuit was also introduced in the middle voltage link of inverter to avoid the shift of the optimum PF point caused by the change of the load and the reliable run of the control system was assured. The experiment results show that it has a good self-adaptation in the whole scope of speed adjustment and an obvious economization on energy while it runs under load.     

An overview on novel thermal barrier coatings

Thermal barrier coatings (TBCs) offer the potential to significantly improve efficiencies of aero engines as well as stationary gas turbines for power generation. On internally cooled turbine parts, temperature gradients of the order of 100-150℃ can be achieved. TBCs, typically consisting of an yttrium stabilized zirconia top coat and a metallic bond coat deposited onto a superalloy substrate, are mainly used to extend lifetime. Further efficiency improvements require TBCs being an integral part of the component which requires reliable and predictable TBC performance. TBCs produced by electron beam physical vapor deposition (EbPVD) or plasma spray (PS) deposition are favored for high performance applications. The paper highlights critical R&D needs for advanced TBC systems with a special focus on reduced thermal conductivity and life prediction needs. To further enhance the efficiency of gas turbines, higher temperature and a longer lifetime of the coating are needed for the next generation of TBCs. This paper presents the development of new materials, new deposition technologies, and new concept for application as novel TBCs. This paper summarizes the basic properties of conventional thermal barrier coatings. Based on our own investigation, we reviewed the progress on materials and technologies of novel thermal barrier coatings. Except yttria stabilized zirconia, other materials such as lanthanum zirconate and rare earth oxides are also promising materials for thermal barrier coatings. Nanostructure thermal barrier coating is presented as a new concept. This paper also summarizes the technologies for depositing the thermal barrier coatings.     

高瓦斯有突出危险性矿井的揭煤实践

通过对贵州林华高瓦斯有突出危险性矿井揭煤施工,就揭煤过程中应注意的问题,提出对应措施。     

铁掺杂对于二氧化锰催化剂表面吸附机理的理论研究

为了减少燃煤烟气中汞的排放,基于密度泛函理论并用第一性原理计算,研究了铁掺杂对于Hg, Cl和HgCl在MnO_2催化剂表面的吸附状态.结果表明:Fe掺杂前后,Hg吸附到MnO_2(110)表面均属于物理吸附作用,而C和HgCl都属于化学吸附作用;Hg, Cl和HgCl三种吸附质,均是优先吸附在MnO_2催化剂的O吸附位点上.     

烟气脱汞过程中Ce掺杂对于不同吸附质在MnO2(110)表面吸附机理的研究

基于密度泛函理论(DFT)的第一性原理,通过Materials Studio软件计算模拟,研究了烟气催化脱汞过程中Hg~0,Cl和HgCl在Ce掺杂前后MnO_2(110)表面的吸附状态.结果表明:在Ce掺杂前后,Hg~0和Cl都是优先吸附在MnO_2(110)表面的含氧位点,且从掺杂后形成的键长更大,表明掺杂有利于反应体系活性的增加;HgCl吸附时,Ce掺杂前后不管是以Hg端吸附还是以Cl端吸附均是化学吸附,且以Hg端吸附在O位点上较为稳定,以Hg端吸附时HgCl的键能大于新形成的键能,有利于HgCl作为整体进一步与Cl反应生成最终的产物HgCl_2.     

基于复杂网络视角的全球铀矿产品贸易特征分析

中国铀矿资源禀赋不佳,需要进口大量铀矿资源以满足国内需求,在铀矿资源对外依存度维持高位的背景下,中国铀矿国际贸易安全显得尤为重要。本文在构建全球铀矿产品贸易复杂网络模型的基础上,对2000～2018年全球铀矿产品贸易特征和主要国家地位演变趋势进行分析,得出:2000年以来随着以中国为首的新兴核电大国的崛起,对铀矿资源需求的增加,推动了全球铀矿产品贸易的发展。现阶段全球天然铀贸易主要由需求国控制,而全球主要的天然铀出口国哈萨克斯坦和澳大利亚几乎没有话语权。发达国家凭借着技术优势和壁垒,垄断富铀产品贸易市场。中国需要提前做好战略布局,在稳定现有贸易来源的基础上,更加深度地参与全球天然铀和富铀产品贸易。