Multimodal sensing and active continuous closed‐loop feedback for achieving reliable manipulation in the outdoor physical world

The use of field robots can greatly decrease the amount of time, effort, and associated risk compared to if human workers were to carryout certain tasks such as disaster response. However, transportability and reliability remain two main issues for most current robot systems. To address the issue of transportability, we have developed a lightweight modularizable platform named AeroArm. To address the issue of reliability, we utilize a multimodal sensing approach, combining the use of multiple sensors and sensor types, and the use of different detection algorithms, as well as active continuous closed‐loop feedback to accurately estimate the state of the robot with respect to the environment. We used Challenge 2 of the 2017 Mohammed Bin Zayed International Robotics Competition as an example outdoor manipulation task, demonstrating the capabilities of our robot system and approach in achieving reliable performance in the fields, and ranked fifth place internationally in the competition.     

国家级核应急医学救援分队能力评估指标体系的建立与应用

为进一步摸清国家核应急医学救援分队能力建设现状,国家核应急响应技术支持中心建立了评估指标体系、评分标准,对依托苏州大学附属第二医院(核工业总医院)设立的国家核应急医学救援分队开展能力评估。评估重点包括政策法规、组织机构、预案方案、指挥控制、应急设施与装备、应急响应行动和培训演练等7项一级指标。通过评估,摸清了现状,查找了问题,同时对救援方案、物资装备配备及管理、培训演练等国家核应急医学救援分队能力建设以及核应急能力评估等工作提出改进建议。     

济阳坳陷新近系地层油藏特征--以太平油田为例

由于河流相沉积受控于古地貌形态，并在凸起边缘部位形成地层超覆圈闭，因此济阳坳陷新近系具有良好的油气成藏条件。太平油田主要含油层段为新近系馆陶组下亚段，根据构造演化、沉积储层特征及油源对比分析，认为“网毯式”输导体系是该油田油气运移的主要通道；古地貌控制了地层的分布和储层的发育程度；地层超覆边界控制了各砂层组的含油性，从而形成了典型的地层油藏组合。     

辽河防洪应急工程中的加筋粉细砂筑坝技术

加筋粉细砂筑坝是一门新兴技术,通过在辽河防洪应急工程右岸李家堡段应用表明,该项技术在技术上是可行的、在经济上是合理的。本文介绍了该技术在辽河防洪应急工程右岸李家堡段的应用。     

孔西潜山奥陶系原生油藏成藏时期探讨

黄骅坳陷孔西潜山发现奥陶系（孔古3井、孔古7井）低产原生油藏和石炭-二叠系原生油气藏（孔古4井），油源对比结果证明，前者原油主要源于中奥陶统马家沟组灰岩，后者油气主要源于石炭系太原组及二叠系山西组煤系泥岩。根据孔古3井油藏的两期流体包裹体及储集层自生伊利石K-Ar年龄测定结果，油藏属两期成藏，第一期为晚三叠世（距今222.51～240.34Ma），第二期为第三纪，以晚第三纪为主。     

Reaction scheme and kinetic modelling for the MTO process over a SAPO-18 catalyst

A kinetic model for simulation of the MTO process over SAPO-18 catalyst in a wide range of operating conditions has been proposed. The kinetic model predicts the experimental evolution of reaction products with time on stream, which follows three consecutive periods: initiation (where olefin production increases), a period of maximum olefin production and a period in which this production decreases. The kinetic scheme takes into account these three steps that evolve with time on stream: formation of active intermediate compounds, an step where olefins are formed by reaction of oxygenates (methanol/DME) with these intermediates and deactivation of intermediates by degradation to coke. The presence of water in the reaction medium attenuates the reaction rate of these steps. Discrimination of kinetic equations and calculation of the parameters of best fit have been carried out by solving the mass conservation equations of the individual components of the kinetic scheme together with the kinetic equation for deactivation and taking into account the effect of water on the kinetics of each step.     

水库突发事件应急预案研究现状与关键技术初探

水库突发事件应急预案是大坝风险管理中非常重要的一个环节,是降低水库大坝风险的非工程措施.本文总结了国内水库突发事件应急预案的研究现状,并结合我国实际国情,初步提出了开展应急预案的关键技术,供大坝安全管理及科研人员参考.     

郯庐断裂带含油气性研究

郯庐断裂带是中国东部一条巨型断裂构造带,该文从其基本构造特征入手,分析了它的几何学、运动学和动力学特征,并进一步研究其含油气特点,认为:a)郯庐断裂带对中国东部诸多中新生代含油气盆地的形成及演化有重要的控制作用,不同演化阶段产生并控制了不同的沉积盆地(如松辽盆地和渤海湾盆地);b)郯庐断裂带对油气藏的形成及演化有重要的控制作用,不仅控制盆地烃源岩的发育、基本的储集层和盖层条件,以及圈闭的形成等等,而且对油气的生成、运移及聚集成藏、大中型油气田的形成及分布等有重要的控制作用.      

Fish assemblages and stream hydraulics: consistent relations across spatial scales and regions

General relationships between organisms and their habitat, consistent across spatial scales and regions, suggest the existence of repeatable ecological processes and are useful for the management of stream networks. From published data, we defined four guilds of European fish species with contrasting preferences for microhabitat hydraulics within stream reaches. At the scale of stream reaches and across 139 French sites (590 460 fishes sampled), we analysed how fish guild proportions were related to reach hydraulics (proportion of pools vs. riffles %POOL; median discharge by unit width Q50/W). The strongest correlations were observed between two fish guilds and %POOL (p < 0.001, r² ≥ 0.41) and between one fish guild proportion and Q50/W (p < 0.001, r² = 0.10). These reach–scale relationships were consistent across six large French basins, and consistent with the analyses made at the microhabitat scale. Therefore, microhabitat preferences for hydraulics are strong enough to generate consistent reach‐scale community responses to hydraulics across regions, despite the influence of other filters such as temperature, nutrient levels or history. The distribution of basic geomorphic features (pools, riffles) in streams and their modification (by dams, weirs and dikes) can modify the proportion of fish guilds by up to 80%, probably contributing to the long‐term decline of riffle‐dwelling species in Europe. Copyright © 2006 John Wiley & Sons, Ltd.     

硫酸盐浆厂污水处理工程及单元技术特点

本文简略介绍云南某硫酸盐浆厂污水处理工程采用的国内不多见的污水单元技术，并对其先进性和实用性效果进行评价和探讨。