形状记忆合金驱动的连续跳跃柔性机器人

针对在复杂、狭窄的非结构化地形下跳跃机器人存在的着陆稳定性和运动连续性的问题,提出了一种形状记忆合金(shape memory alloy,简称SMA)智能材料驱动的柔性跳跃机器人,它具有轻质小型、结构简单及连续运动的优点。利用对称的折纸柔性身体减少着陆振动,保证着陆稳定;利用对称的双SMA弹簧拮抗系统实现弹性元件交替变形和储能释能的功能;建立了柔性机器人跳跃运动的理论模型,研究了关键结构尺寸对能量储存和跳跃性能的影响机制,并研制了一款尺寸为6 cm×4 cm×2.5 cm、质量为3.8 g的原理样机。实验结果表明:柔性机器人依靠SMA驱动能够实现跳跃触发和形态恢复,最大跳跃高度和远度分别为8.67 cm和18 cm,并且可以适应不同工作面。该机器人跳跃性能优越,控制顺序简单,可为非结构化地形下完成侦察探测工作奠定基础。     

增材制造设计(DfAM)下的金刚石晶格结构研究

基于机械零件的增材制造设计,用仿自然式方法设计了一种金刚石晶格结构,对晶胞相对密度和等效弹性模量建立了数学模型,并拟合得到二者关系式,一系列的仿真验证结果显示理论研究所得关系式具有一定的正确性;对金刚石晶格填充结构提出变密度假设,并用仿真和压缩试验的方法进行了验证,结果显示,填充单元密度以受力点为中心渐渐减小的变密度结构拥有更好的抗压性能,同时验证了本文得出的等效弹性模量数学模型具有一定的正确性和适用性.本研究结果可应用于承压机械零件的实体夹层填充,对机械零件进行应力匹配变密度设计,以达到机械结构轻量化的目标.     

药物相互作用研究在新药研发和审评决策中的应用

药物相互作用改变了剂量效应关系，可能会降低疗效或增加毒性，是临床应用中合并用药治疗时重要的考虑因素。预测具有临床意义的药物相互作用是药物研发过程中获益风险评估的重要环节。本文概述了药物研发过程中药物相互作用研究的目的和意义，体内和体外研究的主要内容；梳理分析了2020年国家药品监督管理局（National Medical Products Administration, NMPA）和美国食品药品监督管理局（Food and Drug Administration, FDA）批准上市的新药药物相互作用研究情况，旨在为我国药物研发过程中药物相互作用研究及其监管审评提供参考。     

基于度量学习的意图识别和槽填充方法

人机对话中小样本学习场景下的意图识别和槽填充,是自然语言处理的一个重要课题.本文采用基于度量学习的方法,通过计算query set中的样本与support set中样本的距离,寻找距离最近的类别样本作为分类标签,同时将两个任务联合进行训练,用以提升模型的效果.从实验结果中可以得出,本文提出的Fine-tune方法,对意图识别和槽填充任务都有一定的帮助和提升.胶囊网络在意图识别中也起到了一定的效果,可以帮助去除一部分无关信息,但对槽填充任务的帮助不明显;而任务自适应的投影网络,可以更好地将不同类的向量分开,提升了两个任务的性能.     

基于IEC 60870-5-104协议的调度命令发送方法研究

对IEC 60870-5-104协议的调度命令进行了研究，提出了一种基于现有IEC 60870-5-104协议的调度命令发送新方法。此技术充分利用了IEC 60870-5-104协议的文件发送功能，通过远程终端单元（RTU）向电厂发送包含调度命令的文本文件。考虑到调度命令在电力系统和电力市场结算系统安全方面的重要性，将该方法应用在电网调度自动化 SCADA 系统中，可以实现交换数据的更高可用性。     

煤矿罗茨鼓风机的安装使用与故障分析

对罗茨鼓风机的特点、结构和工作原理进行了论述,对其安装使用与故障维修进行了归纳总结.在新型罗茨鼓风机的设计中,提出了一种由偏心孤和圆线曲线组合的三叶转子齿剖面,其在对新齿轮廓进行几何模型的基础上,提出了螺旋齿轮廓,并对啮合螺旋三叶进行了比较研究.结果 表明,新的螺旋齿轮廓可以创造更大的气流,降低鼓风机压力的峰值.     

Performance of Al2O3 particle reinforced glass-based seals in planar solid oxide fuel cells

Glass-based materials are usually considered as excellent seals for jointing adjacent components in planar solid oxide fuel cells, but the uncontrollable crystallization in the glass may cause delamination and micro-cracks in such seals. To solve this problem, Al2O3 ceramic particles were added to a BaO–CaO–Al2O3–B2O3–SiO2 glass system to reduce negative effects caused by crystalline phase on the gas tightness and the joint strength in the seals. At an operating temperature of 750 °C, the glass-based seals with 20 wt% Al2O3 addition (GA80) exhibited extremely low leakage rates (~0.002 sccm/cm under an input gas pressure of 13.6 kPa) and higher shear strength (3.31 MPa). The Al2O3 ceramic addition and the crystalline phase BaAl2Si2O8 reinforced the glass matrix. Further thermal cycle analyses indicated that leakage rates for the GA80 seals remained at around 0.0025 sccm/cm after 10 thermal cycles, which was consistent with minor microstructural change and good interface bonding. Single cell testing with of GA80 seals was performed and the results demonstrated stable electrochemical performance through 6 thermal cycles at an open circuit voltage of 1.16–1.18 V, as well as a power density above 546 mW/cm2 at a current density of 925 mA/cm2. These results showed the high thermal cycle stability of the glass/Al2O3 composite seals in intermediate temperature planar solid oxide fuel cells.     

Enhanced thermal shrinkage behavior of phenolic-derived carbon aerogel-reinforced by HNTs with superior compressive strength performance

A novel carbon/m-HNTs composite aerogel was synthesized by introducing the modified halloysite nanotubes (m-HNTs) into phenolic (PR) aerogels through chemical grafting, followed with carbonization treatment. In order to explore the best proportion of HNTs to phenolic, the micromorphology of PR/m-HNTs were investigated by SEM before carbonization, confirming 10 wt% of m-HNTs is most beneficial to the porous network of aerogels. The interaction between PR and HNTs was studied by FTIR spectra, and microstructure evolution of the target product-carbon/m-HNTs composite aerogel were illustrated by SEM and TEM techniques. SEM patterns indicated that the carbon/m-HNTs aerogels maintain a stable porous structure at 1000 °C (carbonization temperature), while a ~20 nm carbon layer was formed around m-HNTs generating an integral unit through TEM analysis. Specific surface area and pore size distribution of composite aerogels were analyzed based on mercury intrusion porosimetry and N₂ adsorption–desorption method, the obtained results stayed around 500 m²g^?1 and 1.00 cm³g^?1 (pore volume) without significant discrepancy, compared with pure aerogel, showing the uniformity of pore size. The weight loss rate (26.76%) decreased greatly compared with pure aerogel, at the same time, the best volumetric shrinkage rate was only 30.83%, contributed by the existence of HNTs supporting the neighbor structure to avoid over-shrinking. The highest compressive strength reached to 4.43 MPa, while the data of pure aerogel was only 1.52 MPa, demonstrating the excellent mechanical property of carbon/m-HNTs aerogels.