The World robot summit disaster robotics category – achievements of the 2018 preliminary competition

The World Robot Summit is a robot Olympics and aims to be held in a different country every four years from 2020. The concept of the Plant Disaster Prevention challenge is daily inspections, checks, and emergency response in industrial plants, and in this competition, robots must carry out these types of missions in a mock-up plant. The concept of the Tunnel Disaster Response and Recovery challenge is emergency response to tunnel disasters, and is a simulation competition whereby teams compete to show their ability to deal with disasters, by collecting information and removing debris. The Standard Disaster Robotics challenge assesses, in the form of a contest, the standard performance levels of a robot that are necessary for disaster prevention and emergency response. The World Robot Summit Preliminary Competition was held at Tokyo Big Sight in October 2018, and 36 teams participated in the Disaster Robotics Category. UGVs and UAVs contended the merits of new technology for solving complex problems, using core technologies such as mobility, sensing, recognition, performing operations, human interface, autonomous intelligence etc., as well as system integration and implementation of strategies for completing missions, gaining high-level results.     

黄浦江下游吴淞口站低潮位重现期研究

黄浦江为感潮河流,低潮位重现期的确定对黄浦江航道的设计具有重要意义。为了准确估计黄浦江低潮位的重现期,以黄浦江下游吴淞口站年最低潮位序列为例,在对样本进行三性审查的基础上,分别采用传统的数理统计方法和时变矩方法进行水文频率分析。结果表明:吴淞口站年最低潮位序列在1996年发生了变异;还现修正后的序列服从位置参数线性时变的GEV模型,低潮位存在缓慢的上升趋势;一致性条件下百年一遇低潮位约为0.261 m,在非一致性条件下其重现期增大为150 a。非一致性条件下的重现期增大说明黄浦江现有的航道设计标准偏安全,航道通航保证率提高。     

A design of experiments investigation into dry separation using a Knelson Concentrator

Enhanced gravity, or centrifugal, separators have revolutionised gold processing over the past decades, significantly increasing the recovery of fine (−100 μm) free gold. One of the main drawbacks of centrifugal gravity concentrators is the large volume of water required (even if it is all recycled). With water becoming an ever increasingly important “commodity”, reducing this is of importance both from an environmental and a monetary point of view. This work investigated operating a laboratory scale Knelson Concentrator with a dry feed and using air as the fluidising medium. The feed used was a synthetic mixture of tungsten and quartz, used to mimic a gold ore. The response surface method and central composite design techniques were used to design the experiments and to model the results, with the experimental variables being the bowl speed (G-Level), air fluidising pressure and the feed rate. The models corresponded well to the experimental results, indicating that for this experimental setup, the optimal conditions were a bowl G-Level of 40 G, a feed rate of 220 g/min and an air fluidising pressure of 8 psi.     

钡盐法处理六价铬电镀废水及最优工艺参数研究

使用钡盐法对铬废水处理,对p H值在废水中的初值、反映温度计量结果、重铬酸钾的浓度等,在回收六价铬的影响效果进行了分析。对废水中的六价铬使用了源自吸收的分光光度法回收。经过处理后,废水中的p H为8~9的时候,六价铬的回收在9%。废水中的六价铬随着其浓度不断上升增加。超过10℃的时候,六价铬的反应没有非常大的影响,但是当温度降低到10℃以下的时候,回收率就逐步下降了。经过处理之后,六价铬的浓度达到了0.276 7 mg/L,达到了相关规定的标准。     

Study on maximum power point tracking of photovoltaic array in irregular shadow

Traditional maximum power point tracking (MPPT) methods can hardly find global maximum power point (MPP) because output characteristics curve of photovoltaic (PV) array may have multi local maximum power points in irregular shadow, and thus easily fall into the local maximum power point. To address this drawback, Considering that sliding mode variable structure (SMVS) control strategy have such advantages as simple structure, fast response and strong robustness, and P&O method have the advantages of simple principle and convenient implementation, so a new algorithm combining SMVS control method and P&O method is proposed, besides, PI controller is applied to reduce system chattering caused by switching sliding surface. It is applied to MPPT control of PV array in irregular shadow to solve the problem of multi-peak optimization in partial shadow. In order to verity the rationality of the proposed algorithm, the experimental circuit is built, which achieves MPPT control by means of the proposed algorithm and P&O method. The experimental results show that compared with the traditional P&O algorithm, the proposed algorithm can fast track the global MPP, tracking speed increases by 60% and the relative error decreased by 20%. Moreover, the system becomes more stable near the MPP, the fluctuations of output power is greatly reduced, and thus make full use of solar energy.     

Application of differential evolution for cascaded multilevel VSI with harmonics elimination PWM switching

Harmonic elimination pulse width modulation (HEPWM) method has been widely applied to multilevel voltage source inverter (MVSI) to remove low frequency harmonics from its output voltage. However, the computation of the HEPWM switching angles for MVSI is very challenging due to several constraints, namely angle sequencing, very tight angular spacing and the numerous possibilities of angles distribution ratio. Realizing the potential of Differential Evolution (DE) to handle complex problems, this work proposes its application to solve the HEPWM problem for cascaded MVSI. Its emphasis is on improving the availability of HEPWM for higher output voltage by extending the maximum range of modulation index (M). It also removes the discontinuities in the switching angles and reduces the number of distribution ratio required to obtain the required solution. Compared to the most advanced (similar) work, i.e., 7-level MVSI with seventeen switching angles, DE covers a wider range of M; the maximum achievable M is 2.80. Furthermore, it exhibits very low second order distortion factor (DF₂): for the worst case, the value of DF₂ is 0.0014%. To verify the viability of the proposed algorithm, simulation is carried out and hardware prototype is constructed. Both results show very good agreement with the theoretical prediction.     

内插法在相关干涉仪测向体制中的应用

测向误差的减小一直以来都是无线电测向精度提高的一个难点,对于不同的测向体制所采用的减小测向误差的方法都不尽相同。本文主要介绍的是相关干涉仪测向体制的基本原理以及通过内插法的应用来减小测向误差的方法。     

Facile synthesis of Co0.5Zn0.5Fe2O4 nanoparticles decorated reduced graphene oxide hybrid nanocomposites with enhanced electromagnetic wave absorption properties

Herein, reduced graphene oxide/cobalt-zinc ferrite (RGO/Co_0.5Zn_0.5Fe₂O₄) hybrid nanocomposites were fabricated by a facile hydrothermal strategy. Results revealed that the contents of RGO could affect the micromorphology, electromagnetic parameters and electromagnetic wave absorption properties. As the contents of RGO increased in the as-synthesized hybrid nanocomposites, the dispersibility of the particles was improved. Meanwhile, numerously ferromagnetic Co_0.5Zn_0.5Fe₂O₄ particles were evenly anchored on the wrinkled surfaces of flaky RGO. Besides, the obtained hybrid nanocomposites exhibited superior electromagnetic absorption in both X and Ku bands, which was achieved by adjusting the RGO contents and matching thicknesses. Significantly, when the content of RGO was 7.4 wt%, the binary nanocomposites showed the optimal reflection loss of -73.9 dB at a thickness of 2.2 mm and broadest effective absorption bandwidth of 6.0 GHz (12.0–18.0 GHz) at a thin thickness of merely 2.0 mm. The enhanced electromagnetic absorption performance was primarily attributed to the multiple polarization effects, improved conduction loss caused by electron migration, and magnetic loss derived from ferromagnetic Co_0.5Zn_0.5Fe₂O₄ nanoparticles. Our results could provide inspiration for manufacturing graphene-based hybrid nanocomposites as high-efficient electromagnetic wave absorbers.     

Grain mapping to freeform surface for machining using parameter-based incremental tracking method

This paper presents a novel method for mapping a texture for machining onto a freeform surface. When a grain texture designed on a 2D plane is projected onto a freeform surface simply, the texture is distorted along the curvature of the surface in the projection direction. Therefore, a method is required to suppress this distortion. The algorithm proposed in this paper rapidly generates a point cloud that represents a texture with less distortion on a simply connected parametric surface. Specifically, four equations that express local geometry constraints instead of conventional parameterization methods are presented to reduce the distortion between adjacent points on the point cloud. Solving these equations can generate grain textures on freeform surfaces. This paper examines two grain images mapped to two freeform surfaces that were prepared as case studies to demonstrate the effectiveness of the proposed method.     

Effects of anion and cation doping on the thermoelectric properties of n-type PbS

The PbCl_xS_1-x and Pb_1-xBi_xS (x? =?0–0.05) bulks were fabricated with a facile method of hydrothermal synthesis and microwave sintering, and the effect of anionic and cationic donors on the thermoelectric performance of PbS was investigated. Although Cl^? and Bi³⁺ both effectively improved the thermoelectric properties of n-type PbS, more excellent thermoelectric performance was obtained from Cl^? doped samples because of higher electrical property and lower thermal conductivity at higher temperature (T? >?600?K). The thermoelectric figure of merit (ZT) reaches 1.04 for PbCl_0.015S_0.985 at 800?K and increases with temperature increasing without sign of saturation, which is probably the highest value ever reported for single-phase polycrystalline n-type PbS. The results also indicate that the hydrothermal synthesis and microwave sintering can realize anion doping as well as cation doping for n-type PbS at low cost, and PbS should be a robust alternative for PbTe thermoelectric materials.