高纯盐酸游离氯含量定量分析方法的研究

通过对高纯盐酸游离氯含量两种不同定量分析方法的研究、比较，找出了中心检验室分析方法误差偏高的原因，确定了半成品检验室分析方法的准确性，为真实反映生产实际统一了认识。     

高压输电线路巡线作业机器人的动力学建模

分析了高压输电线路巡线作业机器人的结构特征,用Lagrange方法建立了多刚体系统动力学模型。基于此动力学模型,对一种典型工况进行了动力学正问题仿真,验证了该模型的正确性。     

偏振光散射无标记活体＂显微＂成像技术研究进展

偏振光测量是一种用来探究物质结构和形态的有效方法。偏振光散射测量可以通过介质的偏振特性得到微观结构和形态信息,并可以提高样品浅层成像分辨率,从而减小光学成像受散射的影响。偏振光散射测量具有光学方法的非侵入、无损伤、快速测量等优势,在生物医学以及材料、海洋、大气等领域都有很好的应用前景,特别是在癌变检测方面的潜力尤其引人注目。本文通过介绍偏振光散射测量的相关方法及研究进展来分析目前偏振光学成像在生物医学等领域的发展状况,以及未来发展的前景。     

Impacts of flexible obstructive working environment on dynamic performances of inspection robot for power transmission line

The rigid-flexible coupling dynamic modeling and simulation of an inspection robot were conducted to study the influences of the flexible obstructive working environment i.e. overhead transmission line on the robot＇s dynamic performance. First, considering the structure of the obstacles and symmetrical mechanism of the robot prototype, four basic subactions were abstracted to fulfill full-path kinematic tasks. Then, a multi-rigid-body dynamic model of the robot was built with Lagrange equation, whil~e a multi-flexible-body dynamic model of a span of lin~ was obtained by combining finite element method （FEM）, modal synthesis method and Lagrange equation. The two subsystem models were coupled under rolling along no-obstacle segment and overcoming obstacle poses, and these simulations of three subactions along different spans of line were performed in ADMAS. The simulation results, including the coupling vibration parameters and driving moment of joint motors, show the dynamic performances of the robot along ftexibile obstructive working path： in flexible obstructive working environment, the robot can fulfill the preset motion goals; it responses slower in more flexible path; the fluctuation of robot as well as driving moment of the corresponding joint in startup and brake region is greater than that in rigid environment; the fluctuation amplitude increases with increasing working environment flexibility.     

大花萱草化学除草试验

大花萱草(Hemerocallis middendorfii)移栽定植后施用33％二甲戊乐灵乳油、72％异丙甲草胺乳油进行土壤处理防除杂草试验，结果表明：药后30d，33％二甲戊乐灵1500ml／hm^2(制剂含量，下同)除草效果在92％以上，72％异丙甲草胺1350～1800ml／hm^2除草效果则在90％以上。应用上述剂量除草剂定植后施用于大花萱草田，对大花萱草植株安全。     

构件柔性对机器人运动学解的影响分析

以MSC．ADAMS为研究平台,6自由度转动关节机械手为对象,建立了虚拟样机模型,分析比较刚体模型和柔体模型对机械手末端执行器运动学解的差异。为实际的机械手操作,从虚拟样机分析的角度上,提供了一定的参考依据。     

高压输电线路红外图像的边缘检测

高压输电线路的导线，金具及绝缘子串等的红外图像的特点有：边缘模糊，对比度差，空间域上存在孤立的点和小块噪声。采用中值滤波方法。在保护图像边缘细节信息的前提下有效地降低了图像空间域高频噪声，用分段线性灰度变换增强了图像边缘的对比度，提高了图像的温度分辨力和空间分辨力。通过对Roberts边缘算子、Sobel边缘算子、Prewit边缘算子、Laplace边缘算子和Laplace改进算子等常用边缘检测算子对噪声的抑制效果和边缘定位精度的对比分析，选用Roberts算子完成了图像的边缘轮廓检测，并对不连续边缘进行跟踪和连接，得到了清晰连续的图像边缘，完成了高压输电线路红外图像的边缘特征提取。以一幅耐张绝缘子串的红外图像为应用实例，验证了图像预处理及边缘检测方法的有效性。     

淡盐水脱氯工艺介绍

比较系统地介绍了烧碱生产中的淡盐水脱氯工艺，指出机械真空法加化学法脱氯是当前比较先进的脱氯工艺，尤其适用于生产规模较大的氯碱企业。     

Dynamic simulation and experimental study of inspection robot for high-voltage transmission-line

A mobile robot developed by Wuhan University for full-path hotline inspection on 220 kV transmission lines was presented. With 4 rotating joints and 2 translational ones, such robot is capable of traveling along nonobstacle straight-line segment and surmounting straight-line segment obstacles as well as transferring between two spans automatically. Lagrange＇s equations were utilized to derive dynamic equations of all the links, including items of inertia, coupling inertia, Coriolis acceleration, centripetal acceleration and gravity. And a dynamic response experiment on elemental motions of robot prototype＇s travelling along non-obstacle straight-line segment and surmounting obstacles was performed on 220 kV 1 ： 1 simulative overhanging transmission-line in laboratory. In addition, dynamic numerical simulation was conducted in the corresponding condition. Comparison and analysis on results of experiment and numerical simulation have validated theoretical model and simulation resolution. Therefore, the dynamic model formed hereunder can be used for the study of robot control.