配电线路绝缘包裹机器人研制

在介绍国内外输电线路现有机器人研究基础上，针对配电线路绝缘修复领域短板，开发了一套能够在线修复配电线路绝缘皮损伤的包裹机器人。首先，对绝缘包裹机器人的机械结构进行了设计研究，包括行走装置、升降装置和柔性输送与包裹装置；然后，开发了相应的控制系统，包括无线通讯、视觉系统等，并对其进行了抗干扰试验和耐压试验，试验结果合格；最后，通过现场绝缘包裹测试完成了机器人的功能性与可靠性验证。本项目所研发的机器人突破了在线修复、柔性包裹等技术瓶颈，解决了人工修复带来的一系列问题。样机通过现场带电包裹试验，绝缘包裹效果符合行业标准要求，达到了预期效果。     

AP1000稳压器波动管竖直管段空气-水CCFL实验研究

使用竖直管代替波动管模型开展稳压器波动管竖直管段内空气-水两相逆流限制（CCFL）特性可视化实验研究。实验现象表明:竖直管与上容器接口处的局部CCFL决定了进入竖直管内的液相流量；竖直管内的局部CCFL决定了从竖直管流出的液相流量；两处局部CCFL均随空气流量的增大而增强。在较低气量情况，进入竖直管内的液相能够完全或大部分流出，竖直管内的局部CCFL较弱，上容器和竖直管接口处的局部CCFL在整体CCFL中占主导地位，整体CCFL程度随着上容器液位升高而略有增强。在高气量情况，从上容器进入竖直管的液相大部分或者完全被限制而不能向下流出，竖直管内的局部CCFL强烈，在整体CCFL中占主导地位，整体CCFL特性不受上容器液位变化的影响。通过实验数据拟合得到了新的稳压器竖直管CCFL模型。稳压器波动管CCFL数据和稳压器竖直管CCFL数据基本重合，表明波动管CCFL主要由CCFL-U决定。      

垂直水平联合自流排渗在银山矿业尾矿库降渗工程中的应用

为解决江西铜业集团银山矿业尾矿库安全检查中发现的坝体浸润线超高问题，保证坝体稳定性，结合尾矿库现场实际情况，在充分分析不同排渗方式特点的基础上，提出采用垂直水平联合自流排渗方式，并制定了经济合理可行的技术方案。通过浸润线观测数据表明:在落实排渗方案以后，坝体浸润线有明显的下降，坝体局部渗水、沼泽化现象有明显改观，有效地保证了坝体稳定性。     

Workers’ rest allowance and smoothing of the workload in assembly lines

Ergonomic aspects have a crucial role in manual assembly systems. They impact on the workers’ health, final product quality and productivity. For these reasons, there is the necessity to integrate them into the assembly line balancing phase as, whereas, only time and cost variables are considered. In this study, human energy expenditures are considered as ergonomic aspects and we integrate them, for the first time, into the assembly line balancing problem type 2 through the rest allowance evaluation. We consider as an objective function the minimization of the smoothness index. Firstly, a new optimal method based on mixed integer linear programming and a new linearization methodology are proposed. Then, a heuristic approach is introduced. To complete the study, a computational experimentation is presented to validate the mathematical model and to compare the methodologies proposed in terms of computational time, complexity and solution. Additionally, we provide a detailed analysis of the impact that rest allowance evaluation can have on productivity comparing the results obtained, taking into account the rest allowance integration before, during and after the assembly balancing process.     

7055铝合金挤压材黑线缺陷分析

利用高倍组织观察,结合能谱分析,对7055铝合金挤压材阳极氧化后的“黑线”缺陷进行了分析。结果表明:“黑线”区域为AlZr聚集导致。通过严格控制原料质量,改善AlZr中间合金组织;在合金成分范围内,适当降低Zr元素的含量;熔炼过程中适当提高加热温度及时间,使Al₃Zr粒子熔解等手段,可消除“黑线”缺陷。     

Design and fabrication of thermoelectric waste heat reutilization system—possible industrial application

The current article discussed the detail design and development of an experimental test rig to derive usable energy by utilizing the waste heat energy through a heat exchanger made of Bi₂Te₃ material. The accuracy including the efficiency of the fabricated device is demonstrated further by verifying the associated parameter through a simulation model (commercial finite element package, ANSYS 15.0). To imitate the waste hot air from the industry is achieved via a heat gun and fed to the test rig for the generation of thermoelectric power. The simulation model accuracy has been demonstrated by juxtaposing the associated experimental data and computational readings. Subsequently, the feasibility and optimum range of design parameters are established by comparing the experimental and the simulation data (triggered temperature difference, voltage output, and heat flux) generated at the interface of the thermoelectric power generators. In addition, the coefficient of determination (R²) value has been evaluated statistically and verified with the current experimental results for the demonstration of the relevancy. The statistical study shows the existence of the correlation between the current experimental and the simulation model. Also, the experimental result indicates the possible implementation of the newly developed system for the recovery from the waste heat either the automobile exhaust or any other kind of dissipated heat from the industries.     

基于一种改进逐点比较插补法的激光打标机控制加工算法

在激光打标系统中,逐点比较插补法是一种普遍使用的算法。这种算法在控制激光运动轨迹和对图像轨迹的拟合过程中,起到极其重要的作用。由于逐点比较插补法具有运算直观,脉冲输出均匀,调节方便等特点,所以是一种较为适合打标机系统应用的插补算法。但是传统的逐点比较插补算法存在精度低和速度慢等问题。为了改善该算法的性能,对传统逐点比较插补算法进行了改进,并进行了计算和模拟仿真。结果表明改进比较插补算法在精度和速度上都有明显提高。     

Human uncertainty in explicit user feedback and its impact on the comparative evaluations of accurate prediction and personalisation

ABSTRACT

In this article, we report on the lack of reliability of explicit user feedback and its interpretation in the light of system evaluation. It is known, that given feedback strongly depends on the situational context. But also when many contextual factors are held constant, user feedback still proves to be unreliable. This impacts the evaluation of predictive algorithms since it is not clear whether a deviation between a user response and its corresponding prediction can be seen as a flaw by the system or just as usual ‘human uncertainty’. As a result, the perspective on the evaluation of adaptive systems basically changes. The main goal of this article is to demonstrate that simply increasing the amount of explicit feedback is not the key to sustainable system design innovation, as long as that information is not appropriately evaluated. To this end, we will exploit a novel probabilistic approach of processing user feedback and identify biasing effects on accuracy metrics, error probabilities for system rankings as well as natural limitations of evaluation. Finally, we will discuss possible solution strategies and give advice for handling explicit user feedback that is associated with uncertainty.     

Feedforward control of the transverse strip profile in hot-dip galvanizing lines

Hot-dip galvanizing is a standard technology to produce coated steel strips. The primary objective of the galvanizing process is to establish a homogeneous zinc layer with a defined thickness. One condition to achieve this objective is a uniform transverse distance between the strip and the gas wiping dies, which blow off excessive liquid zinc. Therefore, a flat strip profile at the gas wiping dies is required. However, strips processed in such plants often exhibit residual curvatures which entail unknown flatness defects of the strip. Such flatness defects cause non-uniform air gaps and hence an inhomogeneous zinc coating thickness. Modern hot-dip galvanizing lines often use electromagnets to control the transverse strip profile near the gas wiping dies. Typically, the control algorithms ensure a flat strip profile at the electromagnets because the sensors for the transverse strip displacement are also located at this position and it is unfeasible to mount displacement sensors directly at the gas wiping dies. This brings along that in general a flatness defect remains at the gas wiping dies, which in turn entails a suboptimal coating.In this paper, a model-based method for a feedforward control of the strip profile at the position of the gas wiping dies is developed. This method is based on a plate model of the axially moving strip that takes into account the flatness defects in the strip. First, an estimator of the flatness defects is developed and validated for various test strips and settings of the plant. Using the validated mathematical model, a simulation study is performed to compare the state-of-the-art control approach (flat strip profile at the electromagnets) with the optimization-based feedforward controller (flat strip profile at the gas wiping dies) proposed in this paper. Moreover, the influence of the distance between the gas wiping dies and the electromagnets is investigated in detail.     

卫星激光通信粗跟踪系统复合控制策略

针对卫星激光通信粗跟踪系统的跟踪稳定精度指标要求高的特点,建立了基于永磁同步电机直接驱动的粗跟踪系统模型并进行了跟踪稳定误差分析。在采用传统PID控制策略存在跟踪误差较大、动态性能较差等不足的基础上,提出了一种基于粗跟踪系统的改进型前馈复合控制策略。从理论上分析了前馈复合控制策略提高了粗跟踪系统的动态性能,为降低跟踪稳定误差提供了改善方案。地面实验验证结果表明,与传统控制策略相比,改进型复合控制策略极大地降低了系统的动态跟踪误差,动态跟踪误差由606μrad降低至13μrad(1δ)。进一步的在轨实验也验证了改进型复合控制策略的合理性和先进性,总体指标满足了卫星激光通信终端的极高精度要求。本文所提出的控制策略对其他高性能跟踪伺服系统设计也具有较大的借鉴意义。