一种直升机避障电力线检测方法

电力线是一类形状细长、特征稀疏、随着视角的变化容易混淆在大量背景信息中的特殊障碍物，常规电力线检测识别算法得到的目标框对电力线所在位置的估计不够准确。为此，提出了一种相对角度估计方法，基于常规电力线目标检测与识别算法，并结合电力线相对角度估计，从而提高电力线的检测识别过程中所在位置的精度。相比电力线绝对角度回归的方法，提出的相对角度估计方法容易训练易收敛，计算量小，适用于实时性要求较高的应用场合。     

A 6-DOF humanoid wall-climbing robot with flexible adsorption feet based on negative pressure suction

A wide range of dangerous and special tasks have witnessed the applications of wall-climbing robots, but they still cannot adapt well torough or sloping walls. This paper proposes a 6-DOF (degree of freedom) humanoid wall-climbing robot (HWCR) based on the principle of negative pressure suction. HWCR has the advantages of flexible adsorption feet, strong adaptability, strong anti-subversion performance, and high friction to the wall. We deduce mechanics formulas and carry out a parametric design of the foot structure so that it can meet the requirement of robot wall climbing. We use Fluent to analyze the flow field of the adsorption foot and determine the motor speed that can provide a reliable adsorption force. Using the D-H matrix to plan gait, we also design a compound cycloid-based foot trajectory to reduce the impact between the HWCR and the wall. Experiments on the uneven wall and sloping wall show that the vehicle can walk with an ideal gait, and the resistance value of the servo on each joint is much lower than the critical value, which ensures the smooth movement of the HWCR.     

Stable power supply of an independent power source for a remote island using a Hybrid Energy Storage System composed of electric and hydrogen energy storage systems

We propose a self-sustaining power supply system consisting of a “Hybrid Energy Storage System (HESS)” and renewable energy sources to ensure a stable supply of high-quality power in remote islands. The configuration of the self-sustaining power supply system that can utilize renewable energy sources effectively on remote islands where the installation area is limited is investigated. It is found that it is important to select renewable energy sources whose output power curve is close to the load curve to improve the efficiency of the system. The operation methods that can increase the cost-effectiveness of the self-sustaining power supply system are also investigated. It is clarified that it is important for increasing the cost effectiveness of the self-sustaining power supply system to operate the HESS with a smaller capacity of its components by setting upper limits on the output power of the renewable energy sources and cutting the infrequent generated power.     

Statistical optimization of operating parameters of microbial electrolysis cell treating dairy industry wastewater using quadratic model to enhance energy generation

The performance of Microbial electrolysis cell (MEC) is affected by several operating conditions. Therefore, in the present study, an optimization study was done to determine the working efficiency of MEC in terms of COD (chemical oxygen demand) removal, hydrogen and current generation. Optimization was carried out using a quadratic mathematical model of response surface methodology (RSM). Thirteen sets of experimental runs were performed to optimize the applied voltage and hydraulic retention time (HRT) of single chambered batch fed MEC operated with dairy industry wastewater. The operating conditions (i.e) an applied voltage of 0.8 V and HRT of 2 days that showed a maximum COD removal response was chosen for further studies. The MEC operated at optimized condition (HRT- 2 days and applied voltage- 0.8 V) showed a COD removal efficiency of 95 ± 2%, hydrogen generation of 32 ± 5 mL/L/d, Power density of 152 mW/cm² and current generation of 19 mA. The results of the study implied that RSM, with its high degree of accuracy can be a reliable tool for optimizing the process of wastewater treatment. Also, dairy industry wastewater can be considered to be a potential source to generate hydrogen and energy through MEC at short HRT.     

IRS辅助的SWIPT系统中基于能效优先的波束成形设计与优化

以智能反射面(intelligent reflecting surface,IRS)辅助的无线携能通信(simultaneous wireless information and power transfer,SWIPT)系统为背景,研究了该系统中基于能效优先的多天线发送端有源波束成形与IRS无源波束成形联合设计与优化方法。以最大化接收端的最小能效为优化目标,构造在发送端功率、接收端能量阈值、IRS相移等多约束下的非线性优化问题,用交替方向乘子法(alternating direction method of multipliers,ADMM)求解。采用Dinkelbach算法转化目标函数,通过奇异值分解(singular value decomposition,SVD)和半定松弛(semi-definite relaxation,SDR)得到发送端有源波束成形向量。采用SDR得到IRS相移矩阵与反射波束成形向量。结果表明,该系统显著降低了系统能量收集(energy harvesting,EH)接收端的能量阈值。当系统总电路功耗为?15 dBm时,所提方案的用户能效为300 KB/J。当IRS反射阵源数与发送天线数均为最大值时,系统可达最大能效。     

Systematic analysis and multi-objective optimization of an integrated power and freshwater production cycle

This study represents the results of the analysis and optimization of an integrated system for cogenerating electricity and freshwater. This setup consists of a Solid Oxide Fuel cell (SOFC) for producing electricity. Unburned fuel of the SOFC is burned in the afterburner to increase the temperature of the SOFC's outlet gasses and operate a Gas turbine (GT) to produce additional power and operate the air compressor. At the bottom of this cycle, a combined setup of a Multi-Effect Desalination (MED) and Reverse Osmosis (RO) is considered to produce freshwater from the unused heat capacity of the GT's exhaust gasses. Also, a Stirling engine is used in the fuel supply line to increase the fuel's temperature. Using LNG and the Stirling engine will replace the fuel compressor with a pump which increases the system performance and eliminates the need for the expansion valve. To study the system performance a mathematical model is developed in Engineering Equation Solver (EES) program. Then, the system's simulated data from the EES has been sent to MATLAB to promote the best operating condition based on the optimization criteria. An energetic, exergetic, economic, and environmental analysis has been performed and a Non-dominated Sorting Genetic Algorithm (NSGA-II) is used to achieve the goal. The two-objective optimization is performed to maximize the exergetic efficiency of the proposed system while minimizing the system's total cost of production. This cost is a weighted distribution of the Levelized Cost of Electricity (LCOE) and Levelized Cost of freshwater (LCOW). The results showed that the exergetic and energetic efficiencies of the system can reach 73.5% and 69.06% at the optimum point. The total electricity production of the system is 99 MW. The production cost is 11.71 Cents/kWh, of which 1.04 Cents/kWh is emission-related and environmental taxes. The freshwater production rate is 42.44 kg/s which costs 4.38 USD/m³.     

火花放电原子发射光谱类型标准化校正方式的探讨

在国内,火花放电原子发射光谱分析广泛使用类型标准化进行方法校正。在国外,标准和文献中鲜见使用此方法的相关论述。类型标准化主要采用平移校正和转动校正两种方式,哪种方式更加合理也鲜见报道。国外设备类型标准化的默认设置优先采用转动校正方式,相关国内标准对最优校正方式的规定尚不明确,此默认设置的合理性有待探讨。实验选用低合金钢20CrNi2Mo、R407标准样品和不锈钢317L、0Cr18Ni9标准样品,引用国内相关标准,以正确度临界差为评判依据,模拟类型标准化样品和待测样品“十分接近”和“接近”两种情况下平移校正和转动校正的数据正确度。经数据统计分析,平移校正分析结果均满足要求,转动校正结果在“接近”情况下部分元素不满足要求。结合相关国家标准中元素含量范围和精密度数据进行分析,通过计算允许最大偏倚量并制作曲线图方式展开分析,得出如下结论:在满足文中类型标准化控制要点前提下,分析设置更适合于采用平移校正方式。     

基于CiteSpace的资源型产业研究知识图谱分析

资源型产业发展为推进国家经济增长和工业化进程提供了重要保障。为深入了解资源型产业的研究情况，以CNKI数据库为数据源，搜集2000—2020年关于资源型产业的核心及以上期刊论文，利用CiteSpace软件从发文作者与研究机构分布、关键词共现网络和时区图谱等方面，绘制知识图谱，进行可视化分析。研究发现：资源型产业领域的研究成果愈加丰富，但研究群体间联系合作较少，且现有的合作研究主要集中在所处地域资源富集和具有学科优势的研究机构及学者；资源型产业领域的研究热点可概括为产业发展、资源型城市、产业集群、产业结构、产业链和产业集聚等方面；针对资源型产业领域未来可从资源型产业相关理论研究、创新发展模式和可持续发展等方面深入展开。     

稳产国Ⅵ柴油并兼产喷气燃料技术方案的工业应用

介绍了浙江石油化工有限公司新建的3 Mt/a柴油加氢精制装置，其配套使用中国石化石油化工科学研究院有限公司开发的催化剂级配技术，并实施了可根据原料供应及市场产品需求情况灵活调整切换的2种生产技术方案。1 a的安稳生产运行结果表明:该装置以直馏柴油为主原料，通过分馏塔的馏分切割及其侧线抽出，实现了稳产国Ⅵ柴油并兼产喷气燃料技术方案的工业化应用；在实施以兼产喷气燃料为主的生产技术方案时，通过调整常一线柴油的掺炼量，不仅可以生产含硫量小于10.0 μg/g的精制柴油产品，同时兼产所得到的喷气燃料产品含硫量小于0.5 μg/g，赛波特颜色号值大于30；在实施主产精制柴油组分方案时，通过掺炼质量分数为20%~40%的催化柴油，并使所提炼得到的精制柴油组分含硫量小于6.0 μg/g的前提下，这些精制柴油组分产品既可直接作为满足国Ⅵ柴油产品出厂待售，也可作为柴油调和组分储存待用于产品的进一步优化。     

Shared human–robot path following control of an unmanned ground vehicle

This paper considers the shared path following control of an unmanned ground vehicle by a single person. A passive measure of human intent is used to blend the human and machine inputs in a mixed initiative approach. The blending law is combined with saturated super-twisting sliding mode speed and heading controllers, so that exogenous disturbances can be counteracted via equivalent control. It is proven that when the proposed blending law is used, the combined control signals from both the human and automatic controller respect the actuator magnitude constraints of the machine. To demonstrate the approach, shared control experiments are performed using an unmanned ground vehicle, which follows a lawn mower pattern shaped path.