基于旋翼负压混合吸附的爬壁清洗机器人系统动力学性能研究

针对爬壁清洗机器人越障时,负压装置的吸附力下降导致吸附不稳定的问题,设计了一种旋翼负压混合吸附工作的多边形履带清洗机器人,并对爬行稳定性及越障性能进行了动力学分析。首先根据机器人爬壁的运动原理,建立机器人沿玻璃幕墙上的动力学模型,计算出电机理论驱动力矩;其次分析机器人在跨越障碍过程中的运动模型,结合与壁面接触的实际受力状态,对越障过程中关键阶段的本体倾翻、滑移两种失效形式进行运动学和动力学分析;然后根据玻璃幕墙实际的障碍高度,确定多边形履带的参数和理论驱动力矩的大小,并研制了实验样机进行爬行和越障试验,结果表明所设计的机器人具有良好的越障性能。     

The challenges of regulating water and sanitation tariffs under a three-level shared-authority federalism model: The case of Brazil

Water and sanitation regulation in Brazil shall be addressed as part of a major problem that involves institutional disputes and legal uncertainty. The paper investigates the hypothesis that the complex institutional framework plays a central role in explaining country's poor performance in the sector. Methodology is mainly qualitative, presenting an analysis that shows how political, institutional and legal hurdles play a major role in explaining the government's inability to secure a financially self-sustainable structure to the sector. The paper suggests that empowering the National Water Agency to issue general guidelines may help reducing transaction costs and fostering sector's development.     

考虑煤层倾角和钻孔倾角的钻屑量理论研究

为准确预测与预防深部开采煤与瓦斯突出,建立了考虑煤层倾角与钻孔倾角的新钻屑量理论计算公式,并分析了煤层倾角和钻孔倾角对钻屑量的影响。以平煤股份有限公司八矿为研究对象,将钻屑量理论计算值与该矿己15-21030风巷现场钻屑量实测值进行对比验证,得出在煤层倾角一定时,钻屑量随钻孔倾角增大呈幂指数递减关系,减小的比率呈“V”形变化趋势,原钻屑量理论值与实测值平均误差为5.5%,在考虑煤层倾角与钻孔倾角情况下的新钻屑量理论值与实测值平均误差为3.9%。     

井下作业面巷道切顶卸压施工设计探究

以井下作业面巷道切顶卸压施工设计为对象开展探究,结合具体工程实际,从切顶卸压爆破施工设计和爆破施工分析两个角度,对切顶卸压技术的全面应用进行总结分析,希望能够为其他矿井相似工程的开展提供借鉴与参考。     

3D MHD cross flow over an exponential stretching porous surface

The present study aims to investigate the effects of thermal‐diffusion and diffusion‐thermo onan magnetohydrodynamic convective flow of viscous fluids over an exponentially stretching sheet. Thermal radiation effects are also considered in the study. This analysis is carried out in three dimensions and a similarity transformation is adopted to get a set of ordinary differential equations from a set of partial differential equations. And the Fourth‐order Runge‐Kutta method and shooting technique along with the secant method are employed to find out an iterative solution. We also analyze here the influence of the variable magnetic field, nonuniform permeability and variable chemical reaction on the fluid flow. The impact of various pertinent parameters of interest has extensively been explored through graphs and tables. The major findings of the present study are that resistive Lorentz force diminishes the fluid velocity and uplifts the thermal as well as concentration fields. Inclusion of porous matrix improves the viscous drag force which in turn augments wall shear stresses and peters out the heat and mass transfer rates from the sheet. In addition, the thermal expansion coefficient has an inverse relation with temperature.     

美国全面制裁伊朗对中国能源安全的影响与对策建议

美国自2018年5月宣布重启对伊朗全面制裁,伊朗再次成为国际社会关注的焦点。本文系统梳理了伊朗能源禀赋及开发利用现状,分析了伊朗对中国能源安全的保障程度及其优势,发现1997~2017年伊朗对中国石油安全的保障程度呈波动上升态势,对维护中国油气资源供给安全具有重要意义,认为中伊能源合作具有战略互补性、地缘政治优势、经济优势、历史文化基础和降低美元计价风险等优势。在上述基础上,本文从能源价格、供给渠道和运输安全三方面剖析了此次美国全面制裁伊朗对中国能源安全可能产生的影响,并从规避美国制裁风险和保障国家能源安全角度,提出了相关对策建议。     

Early-warning performance monitoring system (EPMS) using the business information of a project

An early-warning performance monitoring system (EPMS) is proposed to objectively measure and monitor the performance of a project for early detection of inherent poor performance problems. The EPMS is built based on project progress data and consists of a database of business information, an optimized theoretical model used as a performance measurement baseline, and an index for monitoring and forecasting the performance. By monitoring the performance through an application of the EPMS to the Korean construction project, the quarterly variation of index was found to differ by project type. These results could explain the environmental changes in the project execution. Therefore, the EPMS is expected to be an alternative for objective performance monitoring and forecasting while applying the existing methods is difficult because of the limited available data on performance indicators. The development procedures may also be useful to researchers interested in approaches to quantitatively analyze trends in various industries.     

公民水素养评价表征因素模型构建与分析

针对我国水资源紧缺、水生态损害、水环境污染等相关水问题,以提升全民爱水惜水节水护水的意识和能力为目标,从水素养概念出发,通过扎根理论质性研究方法对公民水素养评价的表征因素进行筛选和提炼,最终得出包含水知识、水态度、水行为为主范畴的10个表征因素并运用解释结构模型(ISM)深入剖析各因素之间的内在联系。在此基础上建立了3级多层次递阶结构模型,进一步精确描述系统各要素两两之间的直接关系。结果表明:公民水素养评价的表征因素自上而下形成了表象层、中间层和根源层等3个层级,可直观、清晰地反映表征因素之间的递阶、层级关系;水态度在各表征因素中具有调节作用以及各表征因素之间存在内在逻辑关系。研究成果为提高公民水素养水平提供一定的科学依据和政策参考。     

基于Hadoop的电力运维审计系统的设计

国家电网公司信息化程度越来越高，单机运维审计系统产生的数据量日益增多，对海量数据高效率存储分析性能严重下降，系统稳定性降低。为满足国家电网当前对运维审计系统数据存储分析以及系统稳定性的需求，在Hadoop开源架构的基础上，本文提出基于Hadoop集群的海量数据分布式存储方法和基于Heartbeat的心跳检测技术，实现基于Hadoop的电力运维审计系统。〖JP2〗实验测试结果表明，基于Hadoop的电力运维审计系统相比单机系统可用性提高了8.42%，大大提升了存储分析海量数据的性能，具有系统工作稳定和服务不间断等优势。     

基于边缘和局部熵融合的视觉安全性评估方法

针对基于局部熵进行加密图像视觉安全性评估存在块效应的局限性，引入图像的边缘特征，通过共有边缘来衡量加密图像与原始图像的边缘相似度，消除了块效应。由于局部熵对加密等级低的图像不敏感，边缘相似度对加密等级高的图像不敏感，将两个评估方法进行自适应融合，提出[SLEES]（Local Entropy and Edge Similarity，[SLEES]）指标。通过改变图像像素位置和图像像素值的加密方式处理图像和视频帧进行测试，实验结果表明，[SLEES]指标相比传统评估指标有更好的鲁棒性，评估范围更广。