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1.
针对移动机器人使用超声波传感器检测环境时存在干扰与数据不确定性问题,在分析超声波传感器工作原理和相邻位置检测数据的关联特性后,提出了基于三位置超声波检测的环境轮廓构建方法,利用超声波对室内环境进行建图;再使用改进强跟踪UKF-SLAM将超声波测量数据和移动机器人驱动模型进行滤波融合,得到更准确的位姿信息与地图特征。搭建仿真环境,并通过搭载有超声波传感器的全向轮移动机器人在实验环境内验证。仿真结果表明改进方法与其他算法相比,定位和地图构建的误差降低58.058%。室内实验中,获取环境特征的平均误差降低了50.286 3%,进一步验证了提出算法的可行性与有效性。该方法对机器人同步定位与地图构建有一定参考价值。  相似文献   
2.
康仁科  宋鑫  董志刚  潘延安  张园  鲍岩 《表面技术》2021,50(11):321-328
目的 研究钨合金超声椭圆振动切削表面完整性的变化规律,为实现钨合金高表面完整性加工提供理论基础.方法 设计单因素试验,采用单晶金刚石刀具开展钨合金超声椭圆振动切削试验,并与普通切削进行对比,研究不同切削深度下超声椭圆振动对工件表面形貌、表面粗糙度、微观组织、位错密度、显微硬度以及表面残余应力的影响.结果 普通切削或超声椭圆振动切削后,工件表面的位错密度、显微硬度以及残余应力均随着切削深度的增加而增大,且亚表面的晶粒都发生了一定程度的塑性变形,并出现了晶粒细化.与普通切削相比,超声椭圆振动切削可以有效抑制加工过程中鳞刺和犁沟的产生,改善表面粗糙度;工件表面会产生更高的硬化程度、残余压应力和位错密度,位错密度的量级在108 mm–2;亚表面的变质层厚度更小.结论 相比于普通切削,超声椭圆振动切削可以降低表面粗糙度,增大表面残余压应力,提高工件表面完整性.  相似文献   
3.
The structural and electrochemical properties of the double perovskite-type oxide, PrBaMnMoO6-δ, was investigated using neutron diffraction with in-situ conductivity measurement under a dry Argon atmosphere from 25 °C to 700 °C. A Rietveld refinement of the neutron diffraction data confirmed monoclinic symmetry in the P21/n space group. Rietveld refinement also confirms the unit cell parameters of a = 5.6567 (1) Å, b = 5.6065 (2) Å, c = 7.9344 (1) Å and β = 84.43° with reliable atomic positions and refinement factors (R-factors). Neutron diffraction data refinement shows two minor phases (<5%), an orthorhombic AB2O5 type phase of PrMn2O5 in the Pbam (No. 32) space group with unit cell parameters, a = 7.9672 (1) Å, b = 8.9043 (2) Å and c = 5.8540 (1) Å and a scheelite phase of BaMoO4 in the tetragonal I41/a (88) space group with the unit cell parameters, a = b = 5.9522 (1) Å, and c = 12.3211 (2) Å. Morphological images revealed a porous and intertwined microstructure. In-situ conductivity measurement shows that the total conductivity of this material was 130.84 Scm?1 at 700 °C.  相似文献   
4.
根据钢制安全壳的结构尺寸、建造方式和焊后热处理要求,分析对比了适宜钢制安全壳焊后热处理的加热方式,并通过应用证明了局部焊后热处理的可行性。结合工程经验,提出了推动厚度小于60 mm的SA-738 Gr.B钢板免除焊后热处理,或采用超声波冲击处理代替焊后热处理的建议。  相似文献   
5.
The onset of hybrid alumina-based composites, which combines two or more nano-particles within the alumina matrix has already shown promising improvements in the matrix material. However, variations in mechanical properties including the optimum compositions that give improved properties faced with the development of alumina-based composites require further studies to understand the underlying mechanisms and synergistic effects of the nano-particle additions on the alumina matrix. In the current study, the structure and properties of Al?O?-graphene (0.5 wt%) and Al?O?–ZrO? (4 wt% and 10 wt%) composites fabricated via hot-pressing was studied as a baseline for multiple combinations. Even though the addition of 10 wt%ZrO? resulted in a 23% reduction in the grain size of the alumina matrix, the 4 wt%ZrO? addition resulted in a 14% increase in grain size as compared to the parent alumina matrix. X-ray diffraction analysis revealed that there was approximately 85% monoclinic (m-ZrO2) vs. 15% tetragonal (t-ZrO2) crystal structures in the A4ZrO? sample whilst the A10ZrO? had approximately 93% m-ZrO2 vs. 7% t-ZrO2. The high-volume fraction of the monoclinic crystal structures in the A10ZrO? accounts for the induced microcracks in the sample since the transition from the ductile-tetragonal to brittle-monoclinic is associated with the exertion of compressive stresses on the alumina matrix by the associated elastic volume expansion of m-ZrO2. Also, the addition of 0.5 wt%graphene resulted in about 37% reduction in the grain size of the alumina matrix, and approximately 10% increase in hardness as a result of the distribution of graphene along the grain boundaries of the parent alumina matrix, which restricts grain coalescence and growth during processing. Furthermore, an increase up to 115% and 164% were observed in the fracture toughness (KIC) with the inclusion of 0.5 wt%graphene and 10 wt%ZrO? respectively, which was primarily ascribed to the fine-grained microstructures and toughening mechanisms of the intergranular graphene and ZrO? particles.  相似文献   
6.
为了克服超声造影剂中微米级气泡尺寸较大的局限性,大量研究人员对超声应用的替代造影剂(纳米级造影剂)进行了研究。随着生物纳米技术的飞速发展,纳米级超声造影剂在诊断与治疗领域有着广阔的发展前景。与超声造影剂中的微米级气泡相比,纳米级造影剂粒径较小,渗透能力极强,可以通过血管内皮间隙,进而可以实现血管外病变部位的显影。文中详细论述了超声造影剂在超声作用下的行为以及2种主要的纳米级造影剂:纳米气泡和纳米液滴造影剂,对其理论研究进展进行了总结,并提出了目前仍存在的一些问题及其未来的研究方向。  相似文献   
7.
Lead-based ferroelectric materials are extensively employed in industrial applications and everyday life due to their excellent ferroelectric and piezoelectric performance. Pb(Ni1/3Nb2/3)O3-PbTiO3 (PNN-PT) is a typical binary relaxor ferroelectric system, whose refined structure and piezoelectric properties have not been systematically investigated. In this study, evolution of electric field-based crystal structure and variation of ferroelectric, piezoelectric, as well as dielectric properties with composition and temperature of (1 − x)PNN-xPT (0.32 ≤ x ≤ 0.36) ceramics were studied in full detail. The optimal performance is obtained at 0.66PNN-0.34PT with maximum piezoelectric coefficient d33 of 560 pC/N and large dielectric constant of 28 684. In situ high-energy synchrotron diffraction was employed to determine structural origins of enhanced properties of 0.66PNN-0.34PT. Interestingly, crystal structure of poled 0.66PNN-0.34PT ceramic is determined to be single monoclinic phase. Furthermore, both its lattice parameters and volume variation present butterfly shape under electric field. It is demonstrated that macroscopic strain of 0.66PNN-0.34PT stems mainly from intrinsic structure. The present study provides evidence for the relationship between microstructure and macroscopic properties, which is beneficial to the design of new materials with piezoelectric properties.  相似文献   
8.
Glass powder samples of cordierite composition (doped with 8 mol% TiO2) were heat-treated to produce a series of increasingly SiO2-enriched Mg-bearing quartz solid solutions (Qss). The obtained materials were then analyzed by X-ray diffraction: Rietveld structural refinements revealed that Mg-bearing Qss phases possess trigonal symmetry and a compositionally dependent intermediate structural arrangement between those of low and high quartz. High-temperature diffraction measurements were performed up to 700°C to characterize the thermal expansion behavior of the crystals. At SiO2-rich compositions, a reversible high-to-intermediate inversion of the quartz structure is observed, which shifts with increasing stuffing to lower temperatures than the conventional 573°C for pure quartz. Similarities and differences to the better-established Li-bearing Qss are discussed in the text.  相似文献   
9.
《Ceramics International》2021,47(22):31920-31926
The Sr and Ba bearing Tl-1212 phase, Tl(Ba,Sr)CaCu2O7 is an interesting superconductor. The Sr only bearing TlSr2CaCu2O7 is not easily prepared in the superconducting form. The Ba only bearing TlBa2CaCu2O7 on the other hand does not show improvement in the transition temperature with elemental substitution. In this work the influence of multivalent Se (non-metal) and Te (metalloid) substitutions at the Tl-site of Tl1-xMx(Ba,Sr)CaCu2O7 (M = Se or Te) superconductors for x = 0–0.6 was studied. The samples were prepared via the conventional solid-state reaction method. XRD patterns showed a single Tl-1212 phase for x = 0 and 0.1 Se substituted samples. The critical current density at the peak temperature, Tp of the imaginary (χ”) part of the AC susceptibility (χ = χ’ +χ”), Jc-inter(Tp) for all samples was between 15 and 21 A cm−2. The highest superconducting transition temperature was shown by the x = 0.3 Se-substituted sample (Tc-onset = 104 K, Tc-zero = 89 K, Tcχ’ = 104 K and Tp = 80 K). Te suppressed the superconductivity of Tl-1212 phase. The order of highest transition temperatures are as follows: Tl1-xTex(Ba,Sr)CaCu2O7<Tl(Ba,Sr)CaCu2O7<Tl1-xSex(Ba,Sr)CaCu2O7. This work showed that Se was better than Te in improving the transition temperature and flux pinning of the Tl-1212 phase. The roles of ionic radius of Se and Te on the superconductivity of Tl(Ba,Sr)CaCu2O7 are discussed in this paper.  相似文献   
10.
Optimal tip sonication settings, namely tip position, input power, and pulse durations, are necessary for temperature sensitive procedures like preparation of viable cell extract. In this paper, the optimum tip immersion depth (20–30% height below the liquid surface) is estimated which ensures maximum mixing thereby enhancing thermal dissipation of local cavitation hotspots. A finite element (FE) heat transfer model is presented, validated experimentally with (R2 > 97%) and used to observe the effect of temperature rise on cell extract performance of Escherichia coli BL21 DE3 star strain and estimate the temperature threshold. Relative yields in the top 10% are observed for solution temperatures maintained below 32°C; this reduces below 50% relative yield at temperatures above 47°C. A generalized workflow for direct simulation using the CONSOL code as well as master plots for estimation of sonication parameters (power input and pulse settings) is also presented.  相似文献   
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