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.     

12CrNi3钢外锁止套局部表面激光淬火工艺

利用半导体激光宽带对12CrNi3外锁止套局部进行表面淬火处理,并对处理后的零件进行外观检验、显微组织观察、硬度检测分析和摩擦磨损试验。试验结果表明:采取定光斑方式,激光头到工件表面扫描区域中心点距离375 mm(离焦量为0),工件倾斜22°,激光头倾斜18°,温度1350 ℃,扫描速度9 mm/s,单道扫描后表面平整性最好。表面激光淬火硬化层为750～1000 μm,最浅处为443.1 μm,硬化区组织为极细小马氏体组织,硬度达600～700 HV0.2,是基体硬度的2倍左右, 约为渗碳+淬火态硬度的1.3倍,且相变硬化区耐磨性能明显提高。     

基于哈希锁定的网络传输异常序列监测仿真

为有效提升传统网络传输异常序列监测方法的处理效率,提出基于哈希锁定的网络传输异常序列监测方法。利用随机投影的哈希函数将高维空间数据转换为低维空间数据,并利用网络传输序列的多元数量值函数,组建网络传输结构模型。对网络传输结构模型进行流量时频采样以及时间序列分析,结合FIR滤波器对其进行流量抗干扰处理,通过高阶累计的振荡衰减,对输出的滤波数据进行特征搜索及提取,实现基于哈希锁定的网络传输异常序列监测。仿真结果表明,所提方法具有较强的抗干扰性,并且能够确保网络的稳定运行。     

光伏系统用于漏电流测量的霍尔闭环传感器设计

基于闭环磁通门技术的传感器广泛应用在测量大电流中的小剩余电流以及噪声共模电流。这类传感器的精度以及对大电流的隔离能力使之成为漏电流检测的最优方案,但通常缺点是成本昂贵且体积庞大。本文介绍了一种新型小尺寸且利用霍尔闭环技术对太阳能系统中的漏电流进行测量的传感器:新一代的LDSR产品。     

主回路滞流分支管振动超标的原因分析与设计优化

在某核电厂热态功能试验中，巡视发现主回路的某滞流分支管振动超标。根据实测振动随温度变化的趋势、管道固有声模态分析和模态分析等，推测管道内流体的声振动激励引发管道共振。根据滞流管三通处流体的漩涡脱落频率计算和声振动频率计算，推测漩涡脱落与滞流管内流体的固有声振动频率锁定，引发声振动激励放大。综合分析计算和实测结果，确定滞流管振动超标的原因为流声固耦合振动。对管道支架进行了优化，以错开声固耦合共振频率，在三通处倒圆角削弱漩涡脱落，以降低流声耦合的声振动幅值。优化后的分支管振动会明显降低，以保证承压边界的安全。     

适应不同重力环境的仿壁虎机器人运动仿真

针对不同重力环境下仿壁虎机器人的运动稳定性、运动高效协调性等问题,基于四足机器人的步态规划现状和仿壁虎机器人自身特定的机械结构,设计了仿壁虎机器人在g、0、-g 3种环境下的足端轨迹和运动步态。在ADAMS仿真软件中研究了机器人的运动学和动力学特性,得到了仿壁虎机器人稳定爬行与脚掌黏附力、足端轨迹和运动步态的关系。探讨了仿真结果的合理性和局限性,为仿壁虎机器人在实际环境中的稳定运动奠定了理论基础。     

射频一体化矢量网络分析仪系统锁相技术

系统锁相技术是矢量网络分析仪的关键技术,主要作用是保证YIG调谐振荡器(YTO)输出频率和参考频率严格同步。介绍了系统锁相技术及辅助锁相电路的设计,并阐述了该电路有效缩短扫描时间的方法,以提高整个矢量网络分析仪测试速度。     

Characterisation of coarse composite sphalerite particles with respect to flotation

The flotation response of a typical zinc-lead (Zn/Pb) ore, with respect to coarse composite (sulphide/non-sulphide) particles is reported. The flotation tests were carried out on a selected feed particle size range (−600 + 75 μm, at P₈₀ of 390 μm) and the recovery of Zn composite particles analysed on a size by size basis. The best results were achieved with the use of 75 g/t sodium isopropyl xanthate (SIPX), obtaining a Zn recovery of 77%, with a significant improvement at the coarse end of the particle size distribution. Computerised scanning electron microscope (QEMSCAN) was used to characterise value mineral grain size and degree of liberation, as well as gangue and sphalerite association in particles reporting to both concentrate and tailings. A new characterisation function (Locking ratio, LR) was developed based on the data from the automated mineralogical analysis to characterise particles into two-phase composites with different degree of locking texture (simple and complex). The function, which is based on the mode of occurrence of sphalerite, grain size, proportion and composition of the constituent minerals in each particle, was used to study the flotation response of the particles with different degrees of locking. The results highlight the difference in recoverability of the sphalerite bearing particles with different degrees of locking, with simple locking texture giving higher recovery than complex locking texture, for the same overall liberation.     

高大软岩边坡下开采程序研究

结合胜利煤田发生大型滑坡的露天矿地质赋存条件，以高大软岩边坡条件下松散物料压覆的煤炭资源安全高效回收为目标，提出采用“横采内排-尾随压脚”的开采程序方案将工作线从直线型变为“Π”字型。从地表水与地下水防治、边坡安全监测等方面提出了保证工程顺利实施的安全保障措施。计算分析了采用“横采内排-尾随压脚”开采程序方案的可观资源回收量及减少运距和提升高度带来的经济效益，同时对矿山实现可持续发展和安全开采的价值进行了预测。