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。     

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。     

乳酸钠和双乙酸钠对熟火腿的抑菌作用和感官品质的影响

添加不同含量的乳酸钠、双乙酸钠或柠檬酸钠,按照标准配方制作熟火腿.制备后,一部分产品直接进行感官分析,另一部分煮熟、切碎、均匀接种L monocytogenes和L curvatus,真空包装后在4℃储存.与对照组相比,添加2.5％～3.3％的乳酸钠抑制了L monocytogenes和L curvatus的生长.添加0.2％的双乙酸钠对火腿的口感和气味有负面影响.0.1％和0.2％的双乙酸钠对L curvatus没有抑制作用.另一方面,添加1％的缓冲柠檬酸钠可以促进L monocytogenes的生长.     

Mechanical properties and wear behavior of Tin+1(Al,A)Cn (A = Ga,In, Sn,n = 1, 2) via quasi-high-entropy of single atomic thick A layer

The strengthening method of multi-element M-site solid solution is a common approach to improve mechanical properties of MAX phase ceramic. However, the research on capability of multi-element A-site solid solution to improve mechanical properties has rarely been reported. Thereupon, quasi-high-entropy MAX phase ceramic bulks of Ti₂(Al_1?xA_x)C and Ti₃(Al_1?xA_x)C₂ (A = Ga, In, Sn, x = 0.2, 0.3, 0.4) were successfully synthesized by in situ vacuum hot pressing via multi-elements solid solution. The multi-elements solid solution in single-atom thick A layer was confirmed by X-ray diffraction and X-ray photoelectron spectroscopy as well as by energy dispersive X-ray spectroscopy mappings. Effects of doped multi-elements contents on the phase, microstructure, mechanical properties, and high temperature tribological behaviors were studied. Results demonstrated that the Vickers hardness, anisotropic flexural strength, fracture toughness, and tribological properties of Ti–Al–C based MAX ceramics could be remarkably improved by constitution of quasi-high-entropy MAX phase in A layers. Moreover, the strengthening and wear mechanisms were also discussed in detail. This method of multi-element solid solution at A-site provides new way to enhance mechanical properties of other MAX phase ceramics.     

基于有限元的低成本塔桅设计及承载能力分析

为研究铁塔公司发布的最新《低成本铁塔标准图集V1.0》的共享改造能力,文章选取了单斜撑三管塔0.65 kN/m2基本风压下的系列塔图,从各塔段的主管应力比和塔顶位移角两个角度,考虑新增天线设备、馈线、爬梯荷载,以及天线设备之间的相互遮挡,利用有限元软件SAP2000对每种塔型进行了常规设计分析和改造增载后的研究分析.由分析结果可知,每种塔型均有可共享改造能力,且随着塔身高度的增加,共享改造的能力逐渐降低.     

Surface modification of superfine SiC powders by ternary modifiers-KH560/sodium humate/SDS and its mechanism

SiC is a promising functional ceramic material with many great properties. High concentrated SiC slurry with excellent rheology and stability is required in some processes of ceramic forming. In this work, the dispersion of SiC powders was obviously improved by ternary modifiers: γ-(2,3-epoxypropoxy) propytrimethoxysilane (KH560), sodium humate and sodium dodecyl sulfate (SDS). Modified SiC slurry showed the lowest viscosity of 0.168 Pa s at a solid content of 50 vol%. The maximum absolute value of zeta potential of SiC increased from 47.3 to 61.6 mV by modification. Sedimentation experiments showed that a highly stable suspension of modified SiC was obtained at pH 10. SiC green body with high density of 2.643 g/cm³ was prepared with modified powders by slip casting. X-ray photoelectron spectra (XPS) and thermogravimetry (TG) measurements indicated the adsorption of modifiers on SiC surface. Therefore, modified SiC powders could stably disperse in aqueous media due to the increase of electrosteric repulsion between particles. The novel strategy used in this study could further improve the dispersion of SiC powders.     

复合包装膜袋中芥酸酰胺在不同模拟物中的迁移研究

采用气质联用法检测复合包装膜袋中芥酸酰胺在4种模拟物中(水、4％乙酸、20％乙醇和95％乙醇)的迁移量,并研究其影响因素.迁移试验所得的模拟物浓缩至干后用无水乙醇定容,外标法定量.结果表明,芥酸酰胺在浓度为0.2～4.0 mg/L范围内线性关系良好,相关系数为0.9991,检出限为0.05 mg/kg,回收率为90.8％～95.0％,RSD值为1.81％～3.85％.迁移条件一致时,芥酸酰胺在95％乙醇中的迁移量最大;样品中芥酸酰胺的残留量越大,同等条件下其向食品模拟物的迁移量就越大.     

化学微发泡成型外观表面技术研究

从汽车内饰轻量化方向考虑,研究了化学微发泡技术,从成核和气泡长大阶段进行研究,通过特殊的柔性后退core-back工艺,在充模过程中控制气泡的变形和破裂以保证成型制品的表面质量,实现化学微发泡成型制品无外观缺陷、质量减轻20%以上的目的。     

聚乙烯催化剂用烷氧基镁载体的研究进展

基于烷氧基镁载体的Ziegler-Natta聚乙烯催化剂具有活性高、氢调性能好等优点,是目前聚烯烃工业中的研究热点。介绍了烷氧基镁载体的发展进程,综述了烷氧基镁载体的制备及改进方法,分析了烷氧基镁载体在催化剂制备过程中的作用,并对开发适用于乙烯聚合的烷氧基镁载体提出了展望。     

Comparison of Frequency Calculation Methods for Precipitation Series Containing Zero Values

The Muskingum-based (MK-based) distributions and their probability weighted moments (PWMs) have been used for frequency calculation of hydrological data that contain zero values. However, the performance of different MK-based distributions have not been compared and evaluated. Moreover, the partial L-moments (PLMs), which are used for analyzing censored samples, have not been used for frequency calculation of such hydrological data. To obtain the most effective method, this study compares and evaluates the performance of four MK-based distributions by fitting 64 monthly precipitation series and using the ordinary least square (OLS) criterion, Akaike information criterion (AIC), residual square sum criterion (RSS), and the Quasi-optimal Deterministic coefficient (QD). The distributions include ?exponential distribution combines with Dirac delta function (M-like), two-parameter gamma distribution (GA2) combines with Dirac delta function (DGA2), two-parameter generalized Pareto distribution combines with Dirac delta function (DGP2), and two-parameter Weibull distribution (WB2) combines with Dirac delta function (DWB2). The applicability of PLMs were also tested and PLMs of four traditional distributions, including GA2, WB2, generalized extreme value distribution (GEV) and three-parameter generalized Pareto distribution (GP3) were used in application. Results showed that the PLMs are feasible for frequency calculation of hydrological data with zeros. The DGP2 and GP3 are superior to the other MK-based distributions and traditional distributions, respectively. The DGP2 distribution is the optimal choice in most cases and is more universal than the other distributions.