多策略改进型麻雀算法在水下伸缩臂轨迹定位的应用

针对深层水域水下机器人通过机械臂捕捉目标物定位精度低、搜索难度大、耗费时间长的问题,提出一种基于多策略改进型麻雀搜索算法的水下机器人伸缩臂轨迹定位方法。通过D-H参数法搭建伸缩臂模型,结合MATLAB和ADAMS分析伸缩臂在水下捕捉目标物群目标物的低效性,引用麻雀搜索算法中鸟群觅食在最优位置的思想,引入Logistic混沌映射和柯西高斯变异原理,通过水下机器人的4项性能指标分析最优结果。结果表明：优化后的麻雀算法优于其他算法,同粒子群算法、天牛群算法、鲸鱼优化算法相比,伸缩臂捕捉目标物轨迹路线更加精确,水域环境下避障更为明显。     

动态场景下移动机器人视觉SLAM

为实现动态场景下移动机器人自主定位和建图,解决传统视觉里程计方法跟踪效果差及累积误差问题,提升闭环检测的准确性和鲁棒性,提出融合深度学习的同时定位与地图构建方法。采用四叉树算法均匀化特征分布,解决动态场景特征聚集问题;通过优化的目标检测网络识别场景动态语义信息,剔除动态物体对位姿估计的干扰;充分提取场景空间结构信息,结合点特征和线特征实现位姿跟踪及回环检测,构建全局一致的环境地图。TUM数据集和真实场景实验结果表明：改进方法提升了移动机器人定位和建图的准确性和鲁棒性。     

TDI双管板换热器制造质量的控制简

介绍了TDI双管板换热器的结构特点和深孔强度胀接技术。简述了制造过程中的质量控制关键点。通过用模拟管板进行了内管板胀接工艺评定的方法,采取了控制管孔加工精度、强度胀接、管板组装、调整开槽间距及宽度、安排合理的胀接焊接次序、选择合适的胀接压力等措施;采用了新的检验和检测技术,保证了产品质量;增设了压力传感器,完善了安全监测系统。     

Design of a General‐Purpose European Compound Screening Library for EU‐OPENSCREEN

This work describes a collaborative effort to define and apply a protocol for the rational selection of a general‐purpose screening library, to be used by the screening platforms affiliated with the EU‐OPENSCREEN initiative. It is designed as a standard source of compounds for primary screening against novel biological targets, at the request of research partners. Given the general nature of the potential applications of this compound collection, the focus of the selection strategy lies on ensuring chemical stability, absence of reactive compounds, screening‐compliant physicochemical properties, loose compliance to drug‐likeness criteria (as drug design is a major, but not exclusive application), and maximal diversity/coverage of chemical space, aimed at providing hits for a wide spectrum of drugable targets. Finally, practical availability/cost issues cannot be avoided. The main goal of this publication is to inform potential future users of this library about its conception, sources, and characteristics. The outline of the selection procedure, notably of the filtering rules designed by a large committee of European medicinal chemists and chemoinformaticians, may be of general methodological interest for the screening/medicinal chemistry community. The selection task of 200K molecules out of a pre‐filtered set of 1.4M candidates was shared by five independent European research groups, each picking a subset of 40K compounds according to their own in‐house methodology and expertise. An in‐depth analysis of chemical space coverage of the library serves not only to characterize the collection, but also to compare the various chemoinformatics‐driven selection procedures of maximal diversity sets. Compound selections contributed by various participating groups were mapped onto general‐purpose self‐organizing maps (SOMs) built on the basis of marketed drugs and bioactive reference molecules. In this way, the occupancy of chemical space by the EU‐OPENSCREEN library could be directly compared with distributions of known bioactives of various classes. This mapping highlights the relevance of the selection and shows how the consensus reached by merging the five different 40K selections contributes to achieve this relevance. The approach also allows one to readily identify subsets of target‐ or target‐class‐oriented compounds from the EU‐OPENSCREEN library to suit the needs of the diverse range of potential users. The final EU‐OPENSCREEN library, assembled by merging five independent selections of 40K compounds from various expert groups, represents an excellent example of a Europe‐wide collaborative effort toward the common objective of building best‐in‐class European open screening platforms.     

大比例尺数字测图的发展趋势

介绍了数字测图的产生背景,并对测量方法与手段的发展历程进行了阐述,分析了大比例尺数字测图系统的发展与简化,最后对大比例尺数字测图的发展趋势进行了展望,以减轻工作人员的工作强度,同时提高了测图的精度。     

单桩竖向承载力可靠度指标校核方法的研究

以山东淄博某烟囱项目为例，运用映射变换法计算出在安全系数K=2时，工程实践中可能出现的活荷载、恒荷载标准值比值ID下的单桩可靠度指标β，并给出了ρ，β关系函数，检验了在何种情况下能达到所规定的目标可靠度。     

Landscape, race and memory: biographical mapping of the routes of British Asian landscape values

In this paper the migration routes of British Asian women living in London are examined. It is shown that British Asians connect with a myriad of landscapes abroad, including East Africa, India and Pakistan. These connections to past landscapes are mapped and considered here as valued environments of British Asian women in Britain. Through the mapping of their biographies, it is apparent that memories of other landscapes are embedded in environmental practices in Britain, therefore contributing to making the landscape in Britain inclusive and meaningful in the context of the South Asian migration. The maps of migration show the heterogeneity of landscapes experienced by the British Asian women. Memories of other lands manifest themselves in the UK. The effect of these memories on the South Asian home itself in the process of shaping diasporic geographies of belonging and being within the UK is illustrated.     

胶东乳山金矿金青顶矿区黄铁矿热电性研究

金青顶金矿黄铁矿α值离散性较大。Ｐ型黄铁矿出现率为８１．３％。导型组合在早成矿期Ⅰ－ｌ→Ⅰ－４阶段的变化是：Ｐ＞Ｎ→Ｐ》Ｎ→Ｐ》Ｎ→Ｐ＞Ｎ；在晚成矿期Ⅱ－２→Ⅱ－３阶段的变化为Ｐ＜Ｎ→Ｐ》Ｎ。在矿化地段，由上而下，αｐ减小，αＮ增大；Ｐ％减小，Ｎ％增大。其影响因素主要为黄铁矿中Ｃｏ，Ｎｉ，Ａｓ，Ｓｂ，Ｔｅ的含量，其次为结晶温度。用黄铁矿导型和αｐ均值所作矿物学填图反映的结果基本一致，从中可以取得有关黄铁矿形成温度，矿床剥蚀程度，矿体特征，深部远景和控矿构造等标型信息。     

大比例尺地面数字测图

阐述了数字测图的基本作业过程,阐述了内业数据处理和图形文件的生成,并用地图定位法和地图数字化法两种方法介绍了手扶跟踪数字化仪进行地图的数字化,以提高数字地图的精度。