两种多层穿梭车系统的性能比较分析

物流配送中心订单响应速度的加快,对订单拣选系统提出了更高的要求。多层穿梭车系统因其柔性强、效率高等特点,近年来得到了广泛应用。多层穿梭车系统具有两种形式--基于转载车和基于环形输送线,二者均可实现货物的快速拣选,但在系统吞吐量和订单完成周期方面存在差异,致使企业决策者难以进行系统选择。基于上述原因,本文比较两种多层穿梭车系统的性能差异。建立两个系统的开环排队网络模型,然后求解系统吞吐量、订单完成周期,通过仿真验证了排队论模型的准确性,通过试验对两种系统的性能进行对比分析。结果表明,系统吞吐量与层数、巷道数相关,层数越多,巷道数越少,转载车系统相对于环线系统优势越显著;订单完成周期与层数、订单到达率相关,层数越多,订单到达率越低,转载车系统相对于环线系统越具优势。     

多分量力组合加载校准装置主机结构的技术实现

主要介绍了可实现六个分量力和力矩独立或组合加载的校准装置主机结构的设计思路和具体组成。针对该装置量程宽、空间大、准确度高等特点,文章分析了装置研制过程中涉及的技术难点;围绕多分量力组合加载的实现问题,说明了多分量力组合加载的方法原理设计及加载装置主机的机械结构设计等技术问题;最后说明了校准装置实现的技术性能和试验验证情况。     

Data sharing mechanism of various mineral resources based on blockchain

Basins with various mineral resources coexisting and enriching often occupy an important strategic position. The exploration of various mineral resources is repetitive at present due to unshared data and imperfect management mechanism. This situation greatly increases the cost of energy exploitation in the country. Traditional data-sharing mode has several disadvantages, such as high cost, difficulty in confirming the right of data, and lack of incentive mechanism, which make achieving real data sharing difficult. In this paper, we propose a data-sharing mechanism based on blockchain and provide implementation suggestions and technical key points. Compared with traditional data-sharing methods, the proposed data-sharing mechanism can realize data sharing, ensure data quality, and protect intellectual property. Moreover, key points in the construction are stated in the case study section to verify the feasibility of the data-sharing system based on blockchain proposed in this paper.     

Knocking down USP39 Inhibits the Growth and Metastasis of Non-Small-Cell Lung Cancer Cells through Activating the p53 Pathway

Ubiquitin-specific protease 39 (USP39), a member of the deubiquitinating enzyme family, has been reported to participate in cytokinesis and metastasis. Previous studies determined that USP39 functions as an oncogenic factor in various types of cancer. Here, we reported that USP39 is frequently overexpressed in human lung cancer tissues and non-small-cell lung cancer (NSCLC) cell lines. USP39 knockdown inhibited the proliferation and colony formation of A549 and HCC827 cells and decreased tumorigenic potential in nude mice. Specifically, knocking down USP39 resulted in cell cycle arrest at G2/M and subsequent apoptosis through the activation of the p53 pathway, including upregulation of p21, cleaved-cas3, cleaved-cas9 and downregulation of CDC2 and CycinB1. Moreover, USP39 knockdown significantly inhibited migration and invasion of A549 and HCC827 cells, also via activation of the p53 pathway, and downregulation of MMP2 and MMP9. Importantly, we verified these results in metastasis models in vivo. Collectively, these results not only establish that USP39 functions as an oncogene in lung cancer, but reveal that USP39 has an essential role in regulating cell proliferation and metastasis via activation of the p53 pathway.     

改性秸秆去除水体污染物的研究进展

水体污染物的高效去除是水生态持续健康发展中亟待解决的问题,而固载吸附是重要的治理途径。农作物秸秆因来源广及结构特殊等特点,受到研究者的广泛关注,用于开发新型高效吸附剂。综述了近年来改性秸秆在去除水体中重金属离子、有机污染物以及阴离子等方面的研究进展,并指出了改性秸秆吸附应用存在的不足及今后的研究方向,为开发新型秸秆吸附剂及农作物秸秆的高效利用提供参考。     

DPZ1型综合集成硬件控制器硬件安装与软件调试

文章重点介绍了DPZ1型综合集成硬件控制器的硬件组成、安装与连接的步骤方法以及注意事项。对底层软件安装及调试作了详细的说明,对于在安装与使用过程中出现的问题以及需要注意的事项,提出了相应的解决方法。对底层驱动程序安装调试过程中出现的问题提供了实用的解决方法,为业务人员提供参考。     

Adaptive compensation of persistent actuator failures of nonlinear systems

In this article, adaptive compensation designs are developed for nonlinear systems with uncertainties from the system functions and persistent actuator failures of characterizations that (i) some unknown system inputs are stuck at some unknown fixed or varying values at unknown time instants and (ii) the failure pattern always switches from one to another and the switching does not stop. Such a controlled plant is described by an uncertain time-varying nonlinear system, and some robust adaptive feedback linearization based failure compensation results are studied for closed-loop system stabilization and bounded output tracking for some specific conditions. To improve the tracking performance in the presence of persistent actuator failures, a new adaptive control scheme is developed, using the failure indicator function which contains the failure pattern and failure time in the formulation. Detailed stability and tracking performance are shown. Simulation results are shown to verify the effectiveness of the proposed adaptive actuator failure compensation method.     

Adaptive actuator failure compensation for cooperative robotic manipulators with parameter uncertainties

This article develops a new framework of adaptive actuator failure compensation control for cooperative manipulator systems with parameter uncertainties in addition to actuator failures, and designs and analyzes effective actuator failure compensation schemes for such robotic systems. The new adaptive control design uses an integration of multiple individual failure compensators and direct adaptation to handle various types of uncertainties in such robotic systems. The design can also be used for concurrent actuator failure cases, to expand the capability of adaptive actuator failure compensation. With a complete proof and performance analysis, it is shown that the proposed control scheme guarantees the desired closed-loop stability and asymptotic output tracking, despite actuator failures whose patterns, time instants and values are all unknown. Simulation results of a benchmark cooperative manipulator system are presented to verify the desired control performance of the system with both typical constant and square-wave actuator failure signals.     

HTR-PM螺栓拉伸机无测量杆螺柱预紧力标定试验研究

为了解决高温气冷堆示范工程（HTR-PM）无测量杆螺柱预紧力的控制问题，保证反应堆一回路压力边界的法兰密封，需要对无测量杆螺柱的预紧力进行标定。以HTR-PM中 M56无测量杆螺柱为例，采用液压拉伸机对其进行标定试验，找到螺栓拉伸机拉伸预紧力与螺柱残余预紧力的关系曲线；分析了螺栓拉伸机拉伸前后导致螺柱残余预紧力下降的原因，再通过材料力学本构关系，建立了螺栓拉伸机拉紧力与螺柱回弹后残余预紧力的理论关系式。结果表明，试验获得的螺柱联接体系中的残余预紧力及螺母旋紧前的预紧力关系式都与理论分析比较接近；螺栓拉伸机相同出力下，实际设备管嘴法兰螺柱的残余预紧力会比标定值大，但这更有利于法兰面的密封。