基于参数解耦陷波滤波器的工业机器人末端振动抑制

六自由度工业机器人关节因传动装置刚度不足而引发末端振动,通常采用传统陷波滤波器解决该问题;但滤波器参数之间存在耦合,导致滤波器参数难以快速整定。为此,基于所建立的工业机器人双惯量负载模型设计出具有参数解耦的陷波滤波器。分析传统陷波滤波器传递函数,采用极点零点抵消法对陷波器参数进行解耦设计;将陷波器中心频率、宽度以及深度作为陷波滤波器的参数;最后,利用傅里叶变换和对数衰减法快速整定改进后的陷波器参数,以此来抑制工业机器人末端振动。搭建六自由度工业机器人实验平台进行实验。结果表明:参数解耦陷波滤波器不存在参数耦合,参数整定方便;使用参数解耦滤波器比未使用滤波器相比可降低78.5%的工业机器人定位振动,证明改进的参数解耦陷波滤波器对定位振动抑制的可行性与有效性。     

Recovering Bioactive Compounds from Olive Oil Filter Cake by Advanced Extraction Techniques

The potential of by-products generated during extra-virgin olive oil (EVOO) filtration as a natural source of phenolic compounds (with demonstrated bioactivity) has been evaluated using pressurized liquid extraction (PLE) and considering mixtures of two GRAS (generally recognized as safe) solvents (ethanol and water) at temperatures ranging from 40 to 175 °C. The extracts were characterized by high-performance liquid chromatography (HPLC) coupled to diode array detection (DAD) and electrospray time-of-flight mass spectrometry (HPLC-DAD-ESI-TOF/MS) to determine the phenolic-composition of the filter cake. The best isolation procedure to extract the phenolic fraction from the filter cake was accomplished using ethanol and water (50:50, v/v) at 120 °C. The main phenolic compounds identified in the samples were characterized as phenolic alcohols or derivatives (hydroxytyrosol and its oxidation product), secoiridoids (decarboxymethylated and hydroxylated forms of oleuropein and ligstroside aglycones), flavones (luteolin and apigenin) and elenolic acid derivatives. The PLE extraction process can be applied to produce enriched extracts with applications as bioactive food ingredients, as well as nutraceuticals.     

流砂过滤器/超滤工艺用于饮料厂中水回用工程

采用流砂过滤器/超滤工艺处理饮料厂污染程度低的部分生产废水,并进行中水回用.其中砂滤出水符合《城市污水再生利用城市杂用水水质》（GB/T 18920-2002）,可回用于厂区绿化、景观、洗车、冲厕等非生产用水;超滤出水接近自来水水质标准,可回用于生产用水.该项目经过近一年的运行,系统稳定,可节约市政自来水量为1 880 m3/d,经济和环境效益显著.     

业主在工程项目管理中的索赔与反索赔管理

介绍了业主索赔的内容及方式,并对业主反索赔的目的及防范内容进行了阐述,从反驳承包方的索赔要求和索赔报告两方面介绍了业主反索赔的实施,最终带动工程项目管理整体水平的提高。     

浅议工程造价的管理与控制

从工程的设计、招标、审计等方面 ,介绍了工程造价的控制和管理须切实做好的几方面工作 ,以达到在确保工程质量和工期的前提下 ,降低工程造价的目的     

浅析有源电力滤波器在印钞设备中的应用

简述了电力系统谐波的基础理论及其危害,根据企业实际存在的问题,对印钞设备的谐波分量测量,给出了印钞设备工作时产生的谐波畸变图形,通过分析比较,选用施耐德AccuSine有源电力滤波器,并联安装于印钞机电源进线位置。通过投入使用前后的电流、电压波形和电流电压谐波含量比较,证实有源滤波器使印钞机的谐波畸变率由22.4%下降到2.4%。最后介绍了AccuSine有源电力滤波器的技术原理。     

瓷珠曝气生物滤池去除源水中氨氮研究

采用以瓷珠为填料的曝气生物滤池(BAF)预处理某高氨氮源水,结果表明,在气水比为1∶1、滤速为5. 5m/h、水温>10℃的条件下,当进水氨氮<5mg/L时BAF对氨氮的去除率为70% ~90%,反应器中存在一定的亚硝酸氮积累;反冲洗周期对氨氮的去除率有较大影响。     

AERATED ROCK FILTERS FOR ENHANCED AMMONIA AND FAECAL COLIFORM REMOVAL FROM FACULTATIVE POND EFFLUENTS

Nitrogen removal from wastewater is rapidly becoming an essential but expensive upgrade for many small wastewater treatment works in the UK. Using a pilot-scale waste stabilization pond effluent, this paper highlights a low-cost upgrading unit, capable of removing BOD, SS, ammonia and faecal colliforms. Results are given for 12 months of operation and it is suggested that these units could be used by the water companies when ammonia removal is necessary to meet with current legislative demands and prevent eutrophication of receiving watercourses.     

项目开发中施工阶段的成本控制

从制定严密的合同条款、严格控制工程变更、优化施工组织和施工工艺、建立寻价体系、做好反索赔工作等方面深入探讨了施工阶段项目开发的成本控制,为开发项目的成本控制铺平道路,注入实力。     

Selection of an adsorbent for lead removal from drinking water by a point-of-use treatment device

The removal of lead from drinking water was investigated to develop a point-of-use water filter that could meet the regulation imposed by the new European Directive 98-83 lowering lead concentration in drinking water below 10 μg L⁻¹. The objective of this research was to assess the potential of different adsorbents (zeolites, resins, activated carbon, manganese oxides, cellulose powder) to remove lead from tap water with a very short contact time. To begin, the repartition of the lead species in a tap water and a mineral water was computed with the computer model CHESS. It showed that in bicarbonated waters lead is mainly under lead carbonate form, either in the aqueous or in the mineral phase. Batch experiments were then conducted to measure the equilibrium adsorption isotherms of the adsorbents. Then, for five of them, dynamic experiments in micro-columns were carried out to assess the outlet lead concentration level. Three adsorbents gave rise to a leakage concentration lower than 10 μg L⁻¹ and were then selected for prototypes experiments: chabasite, an activated carbon coated with a synthetic zeolite and a natural manganese oxide. The proposed method clearly showed that the measurement of equilibrium isotherms is not sufficient to predict the effectiveness of an adsorbent, and must be coupled with dynamic experiments.