流体驱动智能管道内检测机器人关键技术及应用

使用以管道自身流体驱动并搭载漏磁检测设备的管道内部机器人进行长距离输送管道的检测是一种重要且有效的手段，其作用愈发重要。本文以省科技重大专项项目为依托，介绍了管道漏磁内检测的原理、缺陷漏磁场的算法以及关乎缺陷检出效果等在内的内检测机器人驱动力、通过适应性、速度控制和漏磁检测模块设计，并将上述项目研究成果运用到实际工业实践。结果表明：本项目开发的内检测机器人其检测适应能力更强，能进一步提高缺陷的检出灵敏度和分辨力。经开挖验证后发现缺陷信号特征与实际缺陷状态高度吻合，可在行业内推广应用。     

分段中深孔采矿法切割槽及底部出矿结构设计优化

间柱采场用分段中深孔嗣后充填采矿法回采，为利用中深孔爆破形成切割槽及底部桃形体出矿结构，优化切割天井位置，以溜矿口上方的桃形体作为安全隔柱，利用溜矿口空间作为底部拉槽的凿岩和装药空间；采用平行中深孔和扇形中深孔相结合的方式进行布眼，爆破形成切割槽和底部桃形体出矿结构，避免了采用人工浅孔爆破施工的安全风险,切割槽爆破到位，底部桃形体出矿结构成型良好且稳固安全，该技术已在全矿推广应用。     

The provably good parallel seeding algorithms for the k-means problem with penalties

As a classic NP-hard problem in machine learning and computational geometry, the k-means problem aims to partition the given points into k sets to minimize the within-cluster sum of squares. The k-means problem with penalties (k-MPWP), as a generalizing problem of the k-means problem, allows a point that can be either clustered or penalized with some positive cost. In this paper, we mainly apply the parallel seeding algorithm to the k-MPWP, and show sufficient analysis to bound the expected solution quality in the case where both the number of iterations and the number of points sampled in each iteration can be given arbitrarily. The approximate guarantee can be obtained as , where is a polynomial function involving the maximal ratio M between the penalties. On one hand, this result can be viewed as a further improvement on the parallel algorithm for k-MPWP given by Li et al., where the number of iterations depends on other factors. On the other hand, our result also generalizes the one solving the k-means problem presented by Bachem et al., because k-MPWP is a variant of the k-means problem. Moreover, we present a numerical experiment to show the effectiveness of the parallel algorithm for k-means with penalties.     

Mixing characteristics for the single and air-water two-phase flows in miniaturized parallel multichannel-based devices

Investigation on the miniaturized parallel multichannel-based devices packed with glass beads to improve the mass exchange execution is the critical focal point of the current study. One of the essential parameters to specify the miniaturized devices' flow distribution is the residence time distribution (RTD). In the present context, the RTDs of a liquid tracer were investigated for the air-water multiphase flows (concurrent) across the multichannel-based miniaturized devices (comprising of 11 similar dimensional parallel channels). The devices were variable in height and packed with glass beads. The conductivity estimations generated the RTD curves and were addressed by the axial dispersion model (ADM). The fluid-flow rates differed within the range of 5–23 ml min⁻¹. The axial dispersion coefficients and the rate of the specific energy dispersion were investigated. The effects of pressure difference and geometry on the hydrodynamic attributes and mixing properties were well-illustrated, and the new correlations were suggested.     

基于OpenGL的铜冶金炉快速热修机器人数控作业仿真系统

介绍了基于OpenGL的铜冶金炉快速热修机器人数控作业仿真系统。该系统以Visu alC+ + 6 .0为开发工具 ,采用OpenGL技术 ,对铜冶金炉快速热修机器人数控作业进行了仿真。该系统可验证数控作业程序的正确性、合理性 ,能大大地缩短机器人的调试周期 ,并能离线训练操作人员。     

基于Pro/E的螺旋面钻尖刃磨机床运动仿真

给出螺旋面钻尖刃磨机床的基本结构及其工作原理。采用Pro/E对零部件进行三维参数化建模。在此基础上进行虚拟装配包括定义运动副连接、设置伺服电机,完成螺旋面钻尖刃磨机床的装配体模型。最后通过此模型利用Mechanism模块实现螺旋面钻尖刃磨的运动仿真,并完成干涉检查、速度等运动分析。     

煤矿搜救蛇形机器人MK-01控制系统设计

为用于煤矿搜救的蛇形机器人MK-01设计了一个控制系统。该系统能够利用机器人自身携带的仪器设备采集煤矿巷道内部的状态信息,通过无线网络将信息传输给地面系统,为营救人员施救提供依据。该系统对提高煤矿搜救的智能化、自动化水平,降低搜救成本、提高搜救效率具有一定的意义。     

多机并联空气幕引射风流的现场试验研究

在金川二矿对多机并联空气幕引射风流的作用进行了现场试验。结果表明多机并联空气幕能代替辅扇引射风流，提高主斜坡道内有效风量，降低风流湿度。试验结果很好地验证了多机并联空气幕引射风流理论；多机并联空气幕在有效地调控大压差、大断面巷道内风流的同时，不影响行人和运输，具有广泛的应用前景。     

小恒山下料井快速掘进施工组织与工艺

鸡西矿业集团建设工程公司在小恒山下料斜井施工中 ,采用直眼掏槽爆破技术 ,“四掘一喷”作业方式 ,取得全岩下山连续月进尺 2 0 6m ,2 0 1m的好成绩 ,并且工程质量优良 ,安全无事故 ,实现了优质、快速安全高效施工