Development and field test of the articulated mobile robot T2 Snake-4 for plant disaster prevention

Abstract

In this work, we develop an articulated mobile robot that can move in narrow spaces, climb stairs, gather information, and operate valves for plant disaster prevention. The robot can adopt a tall position using a folding arm and gather information using sensors mounted on the arm. In addition, this paper presents a stair climbing method using a single backward wave. This method enables the robot to climb stairs that have a short tread. The developed robot system is tested in a field test at the World Robot Summit 2018, and the lessons learned in the field test are discussed.     

Should medium-sized contractors still implement home-made information technologies on construction sites?

Despite the increasing dissemination of the Building Information Modeling (BIM) approach, many firms are still far from BIM and are only starting to adopt information technologies. We conducted an ethnographic action research with an industrial partner that implements information technologies on its construction sites, with a strong preference for home-made applications. Results show that the development of such applications faces difficulties and that multiple iterations and versions are necessary before achieving the expected goals because the required competencies are lacking among internal development teams. Moreover, initial needs evolve considerably throughout the application’s development and evaluation process. However, notwithstanding the difficulties encountered during the different application development phases, the industrial partner believes the decision to be worthwhile because of the desire to have internal control over the project data and the need to consider certain specificities related to business processes.     

基于内隐测量的APP交互流程可用性评估方法

目的 研究内隐测量用于交互流程评估的普遍方法，选取适合的参考指标建立评估标准，旨在提出一套完整且通用的评估策略。方法 以带有拍摄功能的宠物社交类APP为载体，提出两种不同的交互流程，建立交互原型，并提取两套原型中差异较大的流程进行对比实验，采用眼动仪收集被测的无意识行为，依据首次注视时间、兴趣区域注视率，注视点图等指标分析实验数据，并与外显测量结果相结合，衡量用户操作情况以及APP的交互性能。结果 根据实验和数据分析，得出以拍摄界面为主页是更适合宠物社交APP的交互方式。结论 内隐测量评估作为一种新兴的产品可用性评估方式，不仅在交互界面设计评估上得到了广泛的应用，还可作为产品交互流程的评估方法，并具有深度挖掘的意义。     

Tumor Necrosis Factor α and Interleukin-1β Acutely Inhibit AgRP Neurons in the Arcuate Nucleus of the Hypothalamus

Obesity-associated low-grade inflammation favors weight gain, whereas systemic infection frequently leads to anorexia. Thus, inflammatory signals can either induce positive or negative energy balance. In this study, we used whole-cell patch-clamp to investigate the acute effects of three important proinflammatory cytokines, tumor necrosis factor α (TNF-α), interleukin-6, and interleukin-1β (IL-1β) on the membrane excitability of agouti-related peptide (AgRP)- or proopiomelanocortin (POMC)-producing neurons. We found that both TNF-α and IL-1β acutely inhibited the activity of 35–42% of AgRP-producing neurons, whereas very few POMC neurons were depolarized by TNF-α. Interleukin-6 induced no acute changes in the activity of AgRP or POMC neurons. Our findings indicate that the effect of TNF-α and IL-1β, especially on the activity of AgRP-producing neurons, may contribute to inflammation-induced anorexia observed during acute inflammatory conditions.     

Small-Molecule Inhibitors of METTL3, the Major Human Epitranscriptomic Writer

The RNA methylase METTL3 catalyzes the transfer of a methyl group from the cofactor S-adenosyl-L-methionine (SAM) to the N⁶ atom of adenine. We have screened a library of 4000 analogues and derivatives of the adenosine moiety of SAM by high-throughput docking into METTL3. Two series of adenine derivatives were identified in silico, and the binding mode of six of the predicted inhibitors was validated by protein crystallography. Two compounds, one for each series, show good ligand efficiency. We propose a route for their further development into potent and selective inhibitors of METTL3.     

The analysis for morphological evolution and crystallography of degenerate pearlite in 100Mn13 steel

During approximate 773 K aging treatment of 100Mn13 steel, degenerate pearlite will occur and evolve into lamellar pearlite during growth process. The microstructures of degenerate pearlite and its evolutionary lamellar pearlite are observed by scanning electron microscopy (SEM) and transmission electron microscopy (TEM). The results show that after 748 K, 773 K and 798 K aging, degenerate pearlites occur at grain boundary. At growth front of degenerate pearlite forming at 773 K and 798 K, pearlite presents a morphology of short lamellae of carbide and ferrite, indicating a trend of developing into lamellar pearlite. The higher the temperature is, the more obvious the trend is, and even a conventional lamellar pearlite has developed. However, there is no morphological evolution for degenerate pearlite forming at 748 K aging. Besides, the constituents of degenerate pearlite is identified as M₂₃C₆ and ferrite, and Kurdjumov-Sachs orientation relationship exists between them, (01 )_α//( 1 )_M23C6, [111]_α//[110]_M23C6. This orientation relationship maintains in morphological evolution from degenerate pearlite to lamellar pearlite.     

基于IEC60076-15的SF6气体绝缘变压器的特殊性

对IEC60076-15《充气式电力变压器》中关于气体绝缘变压器的特殊要求进行了解读,同时对标准中没有提到的SF6气体绝缘变压器的相关问题进行了说明。     

氟锆酸钾盐混合物对Mg-3Y-3.5Sm-2Zn合金组织和性能的影响

制备了三种氟锆酸钾(K2ZrF6)盐混合物(M),分别在三个温度下将三种盐混合物加入到铸态Mg-3Y-3.5Sm-2Zn合金中。通过差热分析(DSC),X射线衍射(XRD),光学显微镜(OM),扫描电子显微镜(SEM),能量色散谱(EDS)和拉伸试验研究了合金的显微组织和力学性能,讨论了K2ZrF6盐混合物在合金中的晶粒细化机理。结果表明,铸态Mg-3Y-3.5Sm-2Zn合金由α-Mg,Mg12(Y,Sm)Zn 和 (Mg,Zn)3(Y,Sm)三种相组成。SEM和XRD检测发现,添加K2ZrF6盐混合物不会在合金中产生新的相。在780°C下加入M3盐(60wt% K2ZrF6-20wt% NaCl-20wt% KCl)时,合金的晶粒细化效果最佳。通过在780℃下加入三种盐,铸态Mg-3Y-3.5Sm-2Zn合金的力学性能得到提高,由M3盐细化后的合金具有最佳的力学性能。K2ZrF6盐混合物可细化铸态Mg-3Y-3.5Sm-2Zn合金,这是由于Mg和K2ZrF6之间还原反应得到的细Zr质点和富锆区在合金中起到的晶粒细化作用。     

双时效对Ti-4Al-5Mo-6Cr-5V-1Nb合金显微组织和力学性能的影响

研究了固溶、固溶后单时效以及固溶后双时效处理对Ti-4Al-5Mo-6Cr-5V-1Nb合金组织和力学性能的影响。结果表明,820℃下固溶0.5 h后,合金中的α相完全溶解;单/双时效合金的硬度均随时效时间增加先升高后降低;合金经300℃/8 h+500℃/8 h双时效处理后可达到4580 MPa的峰值硬度(HV),1462 MPa抗拉强度以及3.4%延伸率,其强度比原始合金高6%,也高于单时效合金。界面能计算结果表明ω相使α相形核的阻力降低50%,促进了α相的析出并细化α板条,从而提升合金的硬度,强度及塑性。     

18CrNiMo7-6环类锻件中白点缺陷的超声检测研究

将超声检测结果和缺陷波形特点进行分类和总结,并通过酸浸检验和断口检验对缺陷性质做出定性判断,验证了超声检测波形特征和白点缺陷的关联性,为通过超声检测手段来监控产品中是否存在白点缺陷提供参考。