基于差分进化算法的手眼标定方法

针对眼在手机器人视觉系统的手眼标定问题，提出了一种基于差分进化算法的手眼标定方法。首先建立了眼在手机器人视觉系统手眼标定的数学模型，通过李群李代数理论，将手眼标定问题转化为误差函数的优化问题，同时保证了优化问题的最优解落在特殊欧氏群ＳＥ（３）上。通过差分进化算法对优化问题进行求解，避免了求解过程中的局部最优问题。最后在实物平台上进行了手眼标定实验，实验结果验证了算法的可行性和有效性。     

SFEP文本因果关系提取及其与SFN转化研究

为将系统故障演化过程(system fault evolution process，SFEP)的文本描述转化为空间故障网络(space fault network，SFN)结构，用于故障分析，本文提出SFEP文本因果关系提取方法，及其与SFN基本结构的转化方法。首先给出SFEP中事件的几种典型因果关系。随后提出因果关系与SFN基本结构的转化流程。本文方法围绕着关键字和因果关系组模式展开，通过模型的不断学习补充和丰富关键字和组模式。最终使方法具备将SFEP文本转化为SFN结构的能力。以飞机起落架故障发生过程文本为例进行了应用，实验结果表明该方法可用于SFEP文本中的因果关系分析，并得到了理想的SFN。完善的关键字和组模式有利于使用计算机智能处理SFEP的SFN。     

Mg-Gd-Y-Zr合金TIG电弧熔覆层微观组织演变及力学性能研究

目的 在AZ91D镁合金表面熔覆Mg-Gd-Y-Zr合金，分析熔覆层微观组织演变规律及其对熔覆层力学性能的影响。方法 采用直流脉冲钨极氩弧焊（DC PTIG welding），在不同平均电流下，将Mg-Gd-Y-Zr合金焊丝送入AZ91D镁合金熔池，制备熔覆层。采用金相显微镜、扫描电子显微镜、能谱仪及X射线衍射仪，分析不同平均电流条件下的熔覆层微观组织。基于显微维氏硬度仪与往复式滑动摩擦磨损设备，表征熔覆层硬度及摩擦学性能。结果 熔覆层微观组织主要由α-Mg、Mg24(Gd,Y)5及Al2(Gd,Y)相组成。熔覆层呈现明显分层特征，主要是由晶界Mg24(Gd,Y)5相分布差异造成。平均电流增大，熔覆层中心晶粒尺寸先保持不变，而后快速增大，Al2(Gd,Y)相由细小弥散颗粒变为团聚状分布，晶界Mg24(Gd,Y)5相则由连续网状演变为不连续岛状，直至变为细小颗粒状。熔覆层硬度随平均电流增加，呈现略微上升，随后快速下降的趋势，其最高硬度达90.8HV。摩擦磨损测试过程中，平均电流为110 A所得熔覆层失重速率小于AZ91D基材。结论 采用DC PTIG在AZ91D基体表面成功制备了耐磨性能优于基体的含Gd、Y稀土元素的熔覆层，稀释率决定熔覆层Al2(Gd,Y)相形貌及分布规律。     

High temperature deformation behavior and microstructure evolution of wrought nickel-based superalloy GH4037 in solid and semi-solid states

Cylindrical samples of Ni-based GH4037 alloy were compressed at solid temperatures (1200, 1250 and 1300 °C) and semi-solid temperatures (1340, 1350, 1360, 1370 and 1380 °C) with different strain rates of 0.01, 0.1 and 1 s⁻¹. High temperature deformation behavior and microstructure evolution of GH4037 alloy were investigated. The results indicated that flow stress decreased rapidly at semi-solid temperatures compared to that at solid temperatures. Besides, the flow stress continued to increase after reaching the initial peak stress at semi-solid temperatures when the strain rate was 1 s⁻¹. With increasing the deformation temperature, the size of initial solid grains and recrystallized grains increased. At semi-solid temperatures, the grains were equiaxed, and liquid phase existed at the grain boundaries and inside the grains. Discontinuous dynamic recrystallization (DDRX) characterized by grain boundary bulging was the main nucleation mechanism for GH4037 alloy.     

Microstructure and properties of WC-12Co composite coatings prepared by laser cladding

A comprehensive study of the phase composition, microstructure evolution, microhardness and wear performance of WC-12Co composite coatings fabricated by laser cladding using coaxial powder-feed mode was presented. It was shown that a combination of high scan speed and high laser energy density made WC on the edge of WC-12Co composite powders partially melt in liquid Co and 304 stainless steel matrix, and then new carbides consisting of lamellar WC and herringbone M₃W₃C (M=Fe, Co) were formed. Meanwhile, WC-12Co composite coatings with no porosity, cracks and drawbacks like decarburization were obtained, showing high densification and good metallurgical bonding with the substrate. Furthermore, a considerably high microhardness of HV_0.3 1500-1600, low coefficient of friction of 0.55 and wear rate of (2.15±0.31)×10^-7 mm³/(N·m) were achieved owing to the synergistic effect of excellent metallurgical bonding and fine microstructures of composite coating under laser power of 1500 W.     

Unraveling the film-formation kinetics of interfacial polymerization via low coherence interferometry

Interfacial polymerization (IP) is one of the most important methods for fabricating thin film composite (TFC) membranes. Understanding the film-formation mechanisms is of great value for developing membranes with enhanced performance. This work proposed a novel method to in situ characterize the film-formation kinetics via low coherence interferometry (LCI). The polyamide film formed at the liquid–substrate interface was scanned in real time; the polymerization induced significant variations in the optical properties around the reaction zone. After mitigating the effects of the perturbed interface, the surface-averaged intensity profiles provide a solid basis for analyzing the film-formation kinetics at various depths. In particular, the effects of the monomer concentrations were investigated to reveal the asymmetric growth and development of irregular substructures. All the characterization results confirm that the LCI-based characterization is a powerful tool for studying the structural evolution of the IP layer and thereby providing deeper insights for optimizing TFC membranes.     

Formation mechanism and microstructure evolution of Ba2Ti9O20 ceramics by reaction sintering method

Ba₂Ti₉O₂₀ single-phase ceramics were prepared by reaction sintering method using TiO₂ and BaCO₃ as raw materials after heat treating at 1150°C for 10 hours. Furthermore, the formation mechanism and microstructure evolution of Ba₂Ti₉O₂₀ ceramics prepared by reaction sintering method were investigated. The formation behavior of Ba₂Ti₉O₂₀ phase was analyzed from the perspective of diffusion, where the reaction activation energy required for the process was calculated to be about 386.17 kJ/mol. Combined with the scanning electron microscopy and the energy dispersive spectrometer, it was revealed that the pores on Ba₂Ti₉O₂₀ grains in the process of reaction sintering might be caused by the absence of oxygen element. Meanwhile, the reason for the roughness of ceramic surface was that the local inhomogeneous distribution of barium on the surface of Ba₂Ti₉O₂₀ grain leaded to the enrichment of titanium.     

Co3xCu3-3x(PO4)2 microspheres,a novel non-precious metal catalyst with superior catalytic activity in hydrolysis of ammonia borane for hydrogen production

Development of robust and cheap catalyst for fast hydrogen evolution from ammonia borane (AB) aqueous solution is an interesting and important topic in the field of hydrogen energy. Herein, a novel non-precious Co_3xCu_3-3x(PO₄)₂ catalyst possessing high reactivity in AB hydrolysis has been developed for the first time. By tuning the molar ratio of Co and Cu, a series of Co_3xCu_3-3x(PO₄)₂ with different x were synthesized and the catalytic behavior in AB hydrolysis was examined. At the optimal x of 0.8, an ultrahigh turnover frequency of 72.6 min⁻¹ was achieved. Additionally, the synergistic effect between Cu₃(PO₄)₂ and Co₃(PO₄)₂ was experimentally confirmed, and the reaction kinetics of AB hydrolysis catalyzed by Co_2.4Cu_0.6(PO₄)₂ were investigated. This work provides a simple route and some new insights for the fabrication of a cheap P-containing catalyst with robust catalytic performance.     

某油井P110油管腐蚀穿孔原因

西部油田某油井油管发生严重腐蚀甚至穿孔。通过宏观形貌和显微组织观察、化学成分分析、硬度测试、拉伸和冲击性能测试、腐蚀产物检测等方法对油管失效原因进行了分析。结果表明:油管在含Cl^-、H2S、CO2酸性环境下发生了均匀腐蚀和局部腐蚀。均匀腐蚀由H2S-CO2-H2O(Cl^-)体系引起的析氢腐蚀所致;而CaCO3沉积造成的微电偶效应以及Fe^2+与地层水中Cl^-的水合作用导致了油管的局部腐蚀穿孔。建议油井管材采用具有一定抗硫性的P110-3Cr钢或耐蚀性能更优的钢,并添加缓蚀阻垢剂进行防护。