Team O2AS at the world robot summit 2018: an approach to robotic kitting and assembly tasks using general purpose grippers and tools

ABSTRACT

In this article, we propose a versatile robotic system for kitting and assembly tasks which uses no jigs or commercial tool changers. Instead of specialized end effectors, it uses its two-finger grippers to grasp and hold tools to perform subtasks such as screwing and suctioning. A third gripper is used as a precision picking and centering tool, and uses in-built passive compliance to compensate for small position errors and uncertainty. A novel grasp point detection for bin picking is described for the kitting task, using a single depth map. Using the proposed system we competed in the Assembly Challenge of the Industrial Robotics Category of the World Robot Challenge at the World Robot Summit 2018, obtaining 4th place and the SICE award for lean design and versatile tool use. We show the effectiveness of our approach through experiments performed during the competition.     

pazopanib血药浓度个体差异与细胞色素P450 3A4基因多态性的关系初探

目的：分析健康受试者口服pazopanib片后体内药代动力学（PK）规律，初步探讨pazopanib片PK个体差异的遗传学机制。方法：14例健康男性受试者分别在给药当天单次口服pazopanib片（200 mg）后，采集基线至96 h血液样本，用LC-MS/MS法测定服药后各时间点血药浓度，用WinNonlin 6.3软件计算药代动力学相关参数，采用SNapShot法测定细胞色素P450 3A4（CYP3A4）基因多态性。结果：Cmax变化范围（7 361.65-26 081.00） ng/mL，平均值±标准差（15 410.72±6 366.21） ng/mL ；tmax变化范围（1.50-4.00） h、平均值±标准差（2.50±0.83） h；AUC0-t变化范围（228 013.55-775 231.63）ng·mL-1·h，平均值±标准差（516 279.90±175 688.41）ng·mL-1·h。个体间Cmax、AUC相差达3倍以上，tmax可相差2倍以上；14例受试者CYP3A4（RS35599367）位点皆为野生型。结论：pazopanib片在中国健康男性志愿者中个体差异较大，未观察到CYP3A4（rs35599367）位点单核苷酸多态性，pazopanib个体间PK差异可能与其他药物代谢相关基因多态性有关。     

Bimetallic CuCo2S4 Nanozymes with Enhanced Peroxidase Activity at Neutral pH for Combating Burn Infections

Peroxidase-mimicking nanozymes that can generate toxic hydroxyl radicals (^.OH) hold great promise as antibacterial alternatives. However, most of them display optimal performance under strongly acidic conditions (pH 3–4), and are thus not feasible for many medical uses, including burn infections with a wound pH close to neutral. Herein, we report a copper-based nanozyme (CuCo₂S₄) that exhibits intrinsic peroxidase-like activity and can convert H₂O₂ into ^.OH at neutral pH. In particular, bimetallic CuCo₂S₄ nanoparticles (NPs) exhibited enhanced peroxidase-like activity and antibacterial capacity, superior to that of the corresponding monometallic CuS and CoS NPs. The CuCo₂S₄ nanozymes possessed excellent ability to kill various bacteria, including methicillin-resistant Staphylococcus aureus (MRSA). Furthermore, this CuCo₂S₄ nanozymes could effectively disrupt MRSA biofilms in vitro and accelerate MRSA-infected burn healing in vivo. This work provides a new peroxidase mimic to combat bacteria in neutral pH milieu and this CuCo₂S₄ nanozyme could be a promising antibacterial agent for the treatment of burn infections.     

沉积物磷的连续提取法的优化

基于沉积物磷的连续提取法存在沉积物磷回收率低的问题,采用沉积物标准样品(GBW 07333)进行重复提取,从而确定最优的浸提次数.结果表明,二次浸提的总磷(TP)回收率从一次浸提的50.6％～59.4％增加至93.8％～95.1％,二次提取能有效提高沉积物磷的萃取率.并且将最优提取方法应用于向家坝水库采集的实际样品,实验表明仍有较好的提取效果,证明了该方法的可行性和合理性.     

带扩张段构型超声速气流中横向射流数值模拟

针对带扩张段构型的发动机燃烧室,采用欧拉-拉格朗日仿真方法研究喷注方式、喷孔参数及隔离段燃烧室构型的改变对于射流雾化效果的影响,用以更好地指导发动机设计.结果表明,在保证发动机总体流量不变的条件下,喷孔孔径减小或者喷孔总数量减少使得液气动量通量比增大,有利于同时增大单孔射流穿透深度以及液滴展向宽度.贫燃工况下如当量比为0.7条件下,射流流量减小,混合效果可能变差.而在发动机结构设计方面,隔离段到燃烧室的过渡设计不宜采用大转角,15°转角是相对较为理想的设计方案.采用小角度突扩构型设计比渐扩构型更容易找到相对好的点火位置.     

Stable Organic Titanium Catalysts and Reactive Distillation Used for the Transesterification of Dimethyl Carbonate with Phenol

The transesterification of dimethyl carbonate with phenol to methyl phenyl carbonate (MPC) was investigated on novel catalysts such as titanium diisopropoxide bis(ethyl acetoacetate) and titanium dibutoxide bis(ethyl acetoacetate) in a closed batch reactor at 185–206 °C under high pressure. The produced methanol could be removed efficiently by reactive distillation in order to overcome the equilibrium. The prepared catalysts have higher resistance to water than titanium alkoxides. Phenol conversion as high as 86.4 % with an MPC selectivity of 99.4 % was achieved under optimal reaction conditions within 9 h. Most of the catalytic activity was retained after repeated use for ten times.     

藏族风情自驾旅游区概念规划——以四川松潘县林坡村为例

四川省甘(孜)—阿(坝)民族地区自然环境优美,民族文化浓郁,旅游资源丰富,近年来吸引了大批自驾游客。甘(孜)—阿(坝)地区松潘县川主寺镇林坡村基于生态和少数民族特色村寨保护的理念,围绕区域"硬资源"(自然景观)和"软资源"(民族特色风情)来构建旅游发展格局,形成了民族特色鲜明、生态可持续发展的体验式自驾旅游区。     

2800mm超快冷全液压预矫直机项目

预矫直机在国内外均属于新开发项目,主要是为了改善ACC超快冷的冷却效果。南钢2 800 mm超快冷全液压预矫直机项目将原ACC装置全部拆除,在原ACC区域新增预矫直机及超快冷装置,不仅提高了热板矫直机矫直的一次通过率,而且有效地提高了板材质量。