基于ADAMS和MATLAB的双足机器人运动轨迹规划和控制的联合仿真

相比ADAMS仿真的不稳定性,利用ADAMS和MATLAB联合仿真对双足机器人运动轨迹规划和控制设计的可靠性及高效性进行了研究。首先绘制双足机器人三维参数模型进行逆运动学分析,验证其合理性后导入ADAMS中添加约束,进行动力学仿真。基于此,在MATLAB中使用多项式插值法完成模型的步态规划。最后利用Simulink试验台建立控制系统的框图,由ADAMS输入关节角之后控制台输出关节的驱动力矩,完成双足机器人ADAMS和MATLAB的联合仿真。仿真结果显示,联合仿真相较于ADAMS仿真的波动性所获得的数据更加稳定,此法高效可行,可作为下一步设计双足机器人的控制系统电机选型的重要理论依据。     

煤矿5G分布式MIMO组网技术研究（增刊）

根据煤矿井下的安全防爆要求，天线的射频发射功率受到严格限制，导致煤矿5G的基站部署密度显著高于地面场景。为了解决由此引发的交叉覆盖问题，本文提出了煤矿5G分布式MIMO组网技术，利用分布在不同位置的天线实现对用户数据的联合并行发送，不仅避免了由交叉覆盖导致的乒乓切换等负面效应，还提升了边缘区域的信号覆盖效果。在乌兰木伦煤矿的300米采煤工作面内，利用分布式MIMO组网技术实现了5G信号的无边界覆盖，上行速率不低于500Mbps，保障了煤机数据的实时有效传输。     

爆破位置对深凹露天矿山炮烟扩散的影响研究

深凹露天矿山由于其特殊的结构,爆破产生的炮烟扩散稀释较为困难,严重危害生产作业人员的生命安全与健康。基于实际矿山构建了深凹露天矿山的二维物理及数学模型,采用非稳态数值分析方法研究了不同爆破位置下,深凹露天矿山采坑内爆破炮烟的扩散规律。研究结果表明：不同爆破位置下,露天采坑内均出现复环流,爆破点位置是影响露天采坑内风流结构特征的重要因素；露天采坑内的炮烟最高浓度均随着时间变化而逐渐下降,但下降的速率逐步减小,呈现三个阶段的下降趋势；爆破位置位于背风侧时露天采坑内的炮烟最高浓度和降至安全浓度所需时间远高于迎风侧三个爆破位置；随着背风侧爆破点距采坑底部距离的减小,炮烟最高浓度及降至安全浓度所需时间先降低后增加,炮烟最高浓度及降至安全浓度所需时间随着迎风侧爆破位置距采坑底部距离的减小而增加。研究结果对于指导深凹露天矿山企业合理组织爆破后的生产作业和保障作业人员安全具有重要意义。     

基于面元素重排的三维网格模型数据隐藏算法

目的 为了解决目前三维数据隐藏算法不能兼顾无失真和盲提取的问题，提出一种新的完全无失真的三维网格模型数据隐藏盲算法。方法 首先使用混沌逻辑映射选择嵌入与提取模式，保证数据的安全性。然后利用面元素重排，完全不会造成三维模型失真的性质，通过不同嵌入模式规则对三角面元素进行重排，以嵌入秘密数据。接收端则可根据相应的提取模式规则提取秘密数据。结果 仿真结果与分析表明，该算法不会对三维模型造成任何失真，嵌入容量为每顶点2比特，且能抵抗仿射变换攻击、噪声攻击和平滑攻击等。结论 这种三维数据隐藏盲算法无失真，容量大、安全性高、鲁棒性强，适用于三维载体不容修改的情形，如军事、医学、秘密通信和版权保护等。     

Investigation of corrosion properties with Ni–P/TiNO coating on aluminum alloy bipolar plates in proton exchange membrane fuel cell

Aluminum alloy bipolar plates have unique application potential in proton exchange membrane fuel cell (PEMFC) due to the characteristics of lightweight and low cost. However, extreme susceptibility to corrosion in PEMFC operation condition limits the application. To promote the corrosion resistance of aluminum alloy bipolar plates, a Ni–P/TiNO coating was prepared by electroless plating and closed field unbalanced magnetron sputter ion plating (CFUMSIP) technology on the 6061 Al substrate. The research results show that Ni–P interlayer improves the deposition effect of TiNO outer layer and increase the content of TiN and TiO_xN_y phases. Compared to Ni–P and TiNO single-layer coatings, the Ni–P/TiNO coating samples exhibited the lowest current density value of (1.10 ± 0.02) × 10^?6 A·cm^?2 in simulated PEMFC cathode environment. Additionally, potential cyclic polarization measurements were carried out aiming to evaluate the durability of the aluminum alloy bipolar plate during the PEMFC start-up/shut-up process. The results illustrate that the Ni–P/TiNO coating samples exhibit excellent stability and corrosion resistance.     

Numerical study on laminar burning velocity of ammonia flame with methanol addition

The combustion characteristics of ammonia/methanol mixtures were investigated numerically in this study. Methanol has a dramatic promotive effect on the laminar burning velocity (LBV) of ammonia. Three mechanisms from literature and another four self-developed mechanisms constructed in this study were evaluated using the measured laminar burning velocities of ammonia/methanol mixtures from Wang et al. (Combust.Flame. 2021). Generally, none of the selected mechanisms can precisely predict the measured laminar burning velocities at all conditions. Aiming to develop a simplified and reliable mechanism for ammonia/methanol mixtures, the constructed mechanism utilized NUI Galway mechanism (Combust.Flame. 2016) as methanol sub-mechanism and the Otomo mechanism (Int. J. Hydrogen. Energy. 2018) as ammonia sub-mechanism was optimized and reduced. The reduced mechanism entitled ‘DNO-NH3’, can accurately reproduce the measured laminar burning velocities of ammonia/methanol mixtures under all conditions. A reaction path analysis of the ammonia/methanol mixtures based on the DNO-NH3 mechanism shows that methanol is not directly involved in ammonia oxidation, instead, the produced methyl radicals from methanol oxidization contribute to the dehydrogenation of ammonia. Besides, NO_x emission analysis demonstrates that 60% methanol addition results in the highest NO_x emissions. The most important reactions dominating the NO_x consumption and production are identified in this study.     

Efficiency control of the cooling-down process of a cryogenic helium turbo-expander for a 2 t/d hydrogen liquefier

Efficient liquefaction of hydrogen is a crucial part for the large-scale storage and long-distance transportation of hydrogen. Helium Brayton cycle based on high-speed turbo-expanders has been widely employed in small and medium hydrogen liquefiers. In present study, a coupled model is proposed to predict the performance and cooling-down process of helium turbo-expanders with brake blower, and validation experiments were performed on a helium turbo-expander of a 2 t/d hydrogen liquefier. Experimental results indicated that the characteristic ratio of expander varied significantly during the cooling-down process which led to a large deviation from the optimal efficiency. The impact of brake pressure on the characteristic ratio and efficiency of the helium turbo-expander is studied, and a variable pressure control method is proposed for the efficient operation of turbo-expanders during the cooling-down process of a hydrogen liquefier. Compared with the constant brake pressure control method, the variable pressure control method can increase the expander efficiency by 5%–10% during the cooling-down process in the high temperature zone.     

A thermodynamic equilibrium analysis of hydrogen and synthesis gas production from steam reforming of acetic acid and acetone blends as bio-oil model compounds

Thermodynamic analysis of steam reforming of blends of two model oxygenates, acetic acid and acetone, representing carboxylic acids and ketones in bio-oil is performed to investigate the effects of their potential interactions on hydrogen yield, synthesis gas composition and progress of reaction network. The results show that both acetic acid and acetone reach complete conversion at all operating conditions. Higher S/C molar ratio results in higher H₂ and CO₂ yields for both acetic acid and acetone. With the increase in pressure, H₂ and CO yields are diminished whereas CH₄ and CO₂ yields are enhanced. H₂ and CO₂ yields increase with the decrease in acetone concentration in the feed blend. CO and CH₄ production are affected adversely for acetic acid rich blends. The maximum H₂ yield values are 75.54%, 78.34%, 80.09%, 81.78% and 84.17% at 700 °C for acetic acid/acetone blends of 0.0/1.0, 0.3/0.7, 0.5/0.5, 0.7/0.3 and 1.0/0.0, respectively.     

Farmers' preferences for adopting on-farm concentration of raw milk: Results from a discrete choice experiment in Germany

Milk concentrates are used in the manufacturing of dairy products such as yogurt and cheese or are processed into milk powder. Processes for the nonthermal separation of water and valuable milk ingredients are becoming increasingly widespread at farm level. The technical barriers to using farm-manufactured milk concentrate in dairies are minimal, hence the suspicion that the practice of on-farm raw milk concentration is still fairly uncommon for economic reasons. This study, therefore, set out to investigate farmers' potential willingness to adopt a raw milk concentration plant. The empirical analysis was based on discrete choice experiments with 75 German dairy farmers to identify preferences and the possible adoption of on-farm raw milk concentration. The results showed that, in particular, farmers who deemed the current milk price to be insufficient viewed on-farm concentration using membrane technology as an option for diversifying their milk sales. We found no indication that adoption would be impeded by a lack of trustworthy information on milk processing technologies or capital.