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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.
Microbiologically influenced corrosion induced by bacteria has been studied for many years. Corrosion is known to be sensitive to the presence of microalgae, such as Phaeodactylum tricornutum. However, the life activity of P. tricornutum that influences the general and localized corrosion of carbon steel is not fully understood. The current study uses a combination of immersion tests and electrochemical experiments with a detailed surface characterization to reveal the naturally formed corrosion products with/without the presence of P. tricornutum. The results show that samples suffer from pitting corrosion and the averaged pit depths are approximately 15 μm under a light–dark cycle condition or a 24-h constant light condition. Meanwhile, the corrosion products are mainly comprised of γ-FeOOH and Fe3O4 in a constant light condition. However, γ-FeOOH, Fe3O4, and FeCO3 are found in a light–dark cycle. This study proposes the fundamental mechanisms of the effect of P. tricornutum life activities on the corrosion performance of Q235 carbon steel, to fulfill the knowledge gaps of the presence of microalgae inducing the general and pitting corrosion of carbon steel.  相似文献   
3.
碳达峰、碳中和目标是党中央国务院审时度势提出的重大战略决策,是我国能源行业革命性的变革,将对全球能源供需格局产生深远影响,为我国能源矿产未来发展指明了方向。我国作为世界最大的能源生产国和消费国,煤炭资源丰富,石油、天然气、铀等能源矿产自主供应能力不足,未来较长时间内能源矿产在我国一次能源消费中仍居主导地位。受资源禀赋、工业化发展阶段和以煤为主的能源消费结构等因素影响,我国承诺实现碳中和的目标和发达国家相比面临的挑战更加艰巨。本文通过梳理我国能源矿产发展现状,碳达峰、碳中和目标背景下初步预测2030年前我国化石能源消费将达到峰值45亿t标准煤左右,2060年非化石能源消费将占我国一次能源消费的85%左右。通过展望煤炭、石油、天然气等能源矿产的发展方向,从三个方面提出了相关政策建议:一是加强国内能源矿产发展利用的顶层设计;二是大力提升国内油气资源自主供应能力;三是处理好碳达峰、碳中和目标约束与能源安全保障的关系。  相似文献   
4.
Carbon black (CB) filled elastomers are structurally complex materials that offer unique properties at different length scales. They have tremendous potential applications in a number of fields including the automotive and aerospace industries and for designing innovative smart materials such as artificial muscles but their applications remain limited primarily due to inadequate understanding of their unique mechanical properties. Here, using the Berkovich technique to probe the surface mechanical properties at different scales the nanoindentation response of a series of composites made by homogeneously dispersed CB nanoparticles inside a semicrystalline copolymer matrix has been explored. While the measured loading part of the force–displacement curves is well described by Meyer's empirical power relation, the inverted methodology (IM) approach to deal with the unloading part has been considered and its outcome has been compared with that obtained from the standard Oliver–Pharr's method. The results were consistent with the observed increase of hardness when the applied displacement decreases for all composite samples over a large range of CB volume fraction. Zhang and Xu's model is demonstrated to produce experimentally consistent explanation of this indentation size effect. X-ray photoelectron spectroscopy (XPS) spectra also show composition gradients with depth up to 100 nm. Furthermore, the effect of CB content, surface features, and length scale-dependent deformation on the hardness–displacement behavior have been considered. These findings highlight the possibility of attaining a diverse set of mechanical properties by a better understanding of the nanoindentation response of CB filled elastomers which can be useful for material selection and design improvements in a number of practical applications.  相似文献   
5.
Numbers of patients with coronavirus disease 2019 (COVID-19) have increased rapidly worldwide. Plasma levels of full-length galectin-9 (FL-Gal9) and osteopontin (FL-OPN) as well as their truncated forms (Tr-Gal9, Ud-OPN, respectively), are representative inflammatory biomarkers. Here, we measured FL-Gal9, FL-OPN, Tr-Gal9, and Ud-OPN in 94 plasma samples obtained from 23 COVID-19-infected patients with mild clinical symptoms (CV), 25 COVID-19 patients associated with pneumonia (CP), and 14 patients with bacterial infection (ID). The four proteins were significantly elevated in the CP group when compared with healthy individuals. ROC analysis between the CV and CP groups showed that C-reactive protein had the highest ability to differentiate, followed by Tr-Gal9 and ferritin. Spearman’s correlation analysis showed that Tr-Gal9 and Ud-OPN but not FL-Gal9 and FL-OPN, had a significant association with laboratory markers for lung function, inflammation, coagulopathy, and kidney function in CP patients. CP patients treated with tocilizumab had reduced levels of FL-Gal9, Tr-Gal9, and Ud-OPN. It was suggested that OPN is cleaved by interleukin-6-dependent proteases. These findings suggest that the cleaved forms of OPN and galectin-9 can be used to monitor the severity of pathological inflammation and the therapeutic effects of tocilizumab in CP patients.  相似文献   
6.
白雪琛  梁国星  吕明 《金属热处理》2021,46(12):142-148
利用选区电化学沉积技术在45钢基体上沉积镍镀层,并对其进行形貌观察、能谱分析探寻选区电化学沉积镍镀层组织生长规律,并将镀层和基体耐磨性进行了试验对比。结果表明,选区电化学沉积生长过程为由小型颗粒逐步生长堆叠成为致密镀层;晶粒生长呈螺旋式上升堆叠形态,球状晶粒内部和表面存在微裂纹;晶粒间隙处存在氧元素,氧化反应对于小型晶粒之间的相互融合起抑制作用;选区电化学沉积镍镀层结构组织更加致密,镀层组织与基体组织间存在明显的分界线,镀层组织相较于基体材料耐磨性更好。  相似文献   
7.
大尺寸弹丸喷丸成形是一种针对大型整体壁板塑性成形的有效手段。采用正交试验方法对7B50铝合金平板试件开展大尺寸弹丸喷丸成形工艺试验,研究不同工艺参数下喷丸后试件沿弦向和展向曲率半径的变化规律。结果表明:试件在喷丸成形后呈球面凸起变形,且沿弦向的曲率半径小于沿展向的曲率半径;各因素按对曲率半径的影响程度排序依次为喷丸气压>试件厚度>移动速度;曲率半径随着厚度和移动速度的增加而增加,随着喷丸气压的增加而减小;建立了可以反映曲率半径与3个因素之间定量关系的回归方程,可为今后喷丸成形的变形预测提供参考。  相似文献   
8.
In once through steam generators, the secondary fluid is heated by the primary fluid. Therefore, the axial heat flux distribution is related to the operational parameters of the fluids in both sides. The RELAP5/MOD4.0 code is adopted to perform the static and transient simulations of a once through steam generator. The temperature, thermal equilibrium quality and heat flux distributions under both heating modes are analyzed and compared. The oscillation behavior of the once through steam generator is discussed and the instantaneous axial profiles of secondary mass flow rate, heat flux as well as tube wall temperature corresponding to four representative times in an oscillation period are further investigated. Finally, the effect of increasing the secondary inlet throttling is studied. The results show that the shape of heat flux distribution under convective heating mainly depends on the temperature difference between primary fluid and secondary fluid. When density wave oscillations occur in the once through steam generators, the primary outlet temperature and total heating power oscillate intensely. The location of the dryout point moves greatly and the tube wall temperature fluctuates most violently in its vicinity. Flow oscillation could be suppressed by increasing the inlet throttling of the secondary side.  相似文献   
9.
现代化的自动装配对物料输送的平稳性和精确性提出了更高的要求,为了满足工业需求,设计了一种采用矩形压电振子作为激振源、以垂直驱动方式工作的压电振动给料器。通过对双悬臂式压电振动给料器进行简化,并建立其动力学模型,推导出固有频率以及装置振幅的表达式,分析了影响固有频率和振幅的因素。利用ANSYS Workbench软件对装置进行动力学分析,系统固有频率为118.85 Hz,并对装置进行了谐响应分析。结果表明,当驱动电压为200 V时,系统驱动频率为116.00~122.00 Hz,双悬臂式压电振动给料器具备输送物料能力,在最靠近共振点处(118.00 Hz)振动幅值最大,输送效率最高,满足工业生产的使用要求。  相似文献   
10.
一种基于分段偏最小二乘模型的土壤重金属遥感反演方法   总被引:1,自引:0,他引:1  
土壤中重金属由于其毒性而成为最有害的环境污染物之一,利用遥感进行土壤重金属检测和分布制图是目前最为高效的手段。采用哨兵二号(Sentinel-2)多光谱影像与实测样品光谱数据,对山西省铜矿峪铜矿尾矿库及其周边农田土壤的铜(Cu)含量进行估算,利用68个土壤样品的反射光谱,优选出适合土壤铜含量预测的波段,结合分段偏最小二乘法(Piecewise Partial Least Squares Regression,P-PLSR),对土壤铜含量进行估算,将模型用于Sentinel-2影像获得了Cu含量的空间分布。通过P-PLSR对实测样品光谱建模反演Cu含量的决定系数(R2)为0.89,预测偏差比(RPD)为2.82;利用Sentinel-2多光谱影像获得了该区域Cu元素含量空间分布,其Cu含量的估算精度R2为0.74,RPD为1.73,Cu含量高值区空间分布与尾矿库关系密切。Sentinel-2多光谱数据具有高空间分辨率(10、20和60 m)、高时间分辨率和幅宽大(290 km)等优势,通过敏感波段选择并建立反演模型,可实现大范围土壤环境制图。  相似文献   
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