“感知与人机交互”教学实践与PBL模式探索

机器人工程是在国家新工科发展战略背景下为了适应机器人专业人才需求而新近创建的专业。本文依托东南大学机器人工程专业教学体系，介绍了“感知与人机交互”课程的教学实践，探索了PBL教学模式在本门课程中的应用。具体介绍了课程教学内容设置、PBL教学方案例设计及存在问题分析等，可为自动化类机器人工程专业的相关课程教学实践提供参考。     

A modified Kozeny–Carman equation for predicting saturated hydraulic conductivity of compacted bentonite in confined condition

Kozeny–Carman (KC) equation is a well-known relation between hydraulic conductivity and pore properties in porous material. The applications of KC equation to predicting saturated hydraulic conductivities of sands and non-expansive soils are well documented. However, KC equation is incapable of predicting saturated hydraulic conductivity of expansive soil (e.g. bentonite) well. Based on a new dual-pore system, this study modified KC equation for improving the prediction of saturated hydraulic conductivities of bentonites. In this study, an assumption that inter-layer space (micropore) has limited effect on fluid flow performance of compacted bentonite was adopted. The critical parameters including total porosity and total tortuosity in conventional KC equation were replaced by macroporosity and tortuosity of macropore, respectively. Macroporosity and microporosity were calculated by basal spacing of compacted bentonite, which was estimated by assuming that specific surface area is changeable during saturation process. A comprehensive comparison of bentonite's saturated hydraulic conductivity predictions, including modified KC equation proposed in this study, conventional KC equation, and prediction method based on diffuse double layer (DDL) theory, was carried out. It was found that the predicted saturated hydraulic conductivity of bentonites calculated using modified KC equation fitted the experimental data better than others to a certain extent.     

Motion trajectory prediction model of hydrogen leak and diffusion in a stable thermally-stratified environment

The motion trajectory of hydrogen leakage is an essential safe issue for the application of hydrogen energy. A dimensionless fast-running motion trajectory prediction model is proposed to predict the dispersion characteristics of the buoyant jet of hydrogen leakage for the accident. The impact of different leakage angles, leakage velocity and thermal stratification of ambient air on hydrogen leakage behavior was analyzed. The new developed model was verified by experimental results in literatures. Leakage hydrogen can flow upwards freely in a uniform environment. However, it shows an oscillating trajectory at a certain height in a thermally stratified environment, which is so called “locking phenomenon”. The trajectory of hydrogen leakage is upward and hydrogen gathers at the top of the space to form stratification in a uniform environment, while the hydrogen leakage shows an oscillating trajectory at a certain height in a thermal stratification environment. With the increase of Froude number Fr, it shows that the stable height and maximum height of the leakage airflow have a trend of rising first and then falling in a thermally stratified environment. The findings are expected to give guidance in real-world situations, for example, a larger Fr value and a larger temperature gradient can lead to a decrease in the stable height in the thermally stratified environment. It is found that the fitting of the stable height with different temperature gradients satisfies the power function relationship. This work is expected to be helpful for reducing hydrogen leakage accumulation and explosion risk.     

Improvement of characteristics and freeze-thaw durability of solidified loess based on microbially induced carbonate precipitation

Bulletin of Engineering Geology and the Environment - Bio-cementation is currently applied to solidify sandy soils, but only few studies use it to cement loess soil particles. In this study, the...     

$$H_{\infty }$$ H ∞ State Estimation for Stochastic Jumping Neural Networks with Fading Channels Over a Finite-Time Interval

Neural Processing Letters - This paper is concerned with the global Mittag-Leffler synchronization schemes for the Caputo type fractional-order BAM neural networks with multiple time-varying delays...     

Adaptive pixel-block based background subtraction using low-rank and block-sparse matrix decomposition

Multimedia Tools and Applications - We present three stages of a novel backgrounds subtraction method in this paper: a new pixel-block based randomized arrangement is utilized to preprocess all the...     

基于强化学习的电力市场信息披露程度对市场成员交易行为影响研究

基于信息披露的主体框架，分析披露体系中具体的供需信息对于市场成员的引导作用。建立日前市场的双层竞价优化模型，采用强化学习的方法，通过市场中有无关键供求信息披露对于发电商报价预期的影响，推演模拟不同信息披露程度下发电商报价行为，然后从策略演化过程、策略偏离度以及策略收敛速度3个角度进行信息披露程度对市场成员交易行为影响的定量分析，验证市场供需信息的发布程度对于市场成员的引导作用，最后基于推演结果进行总结，并对我国信息披露的建设提出建议与思考。     

Thermal degradation of corn starch based biodegradable plastic plates and determination of kinetic parameters by isoconversional methods using thermogravimetric analyzer

Oil shortage and awareness of environment pollution leads to the extensive use of biodegradable starch-based materials against synthetic plastics. The accumulated wastes of these plastics takes more time for natural recycling and the process is complex. Therefore the best option of recycling would be to convert these polymers into a source of energy by pyrolysis. So to understand the pyrolytic behaviour, kinetics of such waste plastics is studied by using thermogravimetric analysis at different heating rates of 10 °C, 20 °C, 40 °C, 60 °C, 80 °C and 100 °C in nitrogen atmosphere followed by characterization of the pyrolysis products. The kinetic parameters are obtained for two major stages of decomposition in two different temperature ranges 250–620 °C and 620–855 °C by iso-conversional methods such as Friedman, Coats-Redfern, FWO and Kissinger methods. The regression coefficient data (>0.9) of kinetic plots obtained for different methods best fits to the kinetic equation. Empirical formula of the compound is determined by ultimate analysis is CH_2.214S_0.0018O_0.6910. Proximate analysis gives the idea of volatile component which is74.33%. The range of average value of activation energy is 120.7013 kJ/mol to 140.7707 kJ/mol for the biodegradable plastic plate with different conversion (0.1–0.6) and (0.1–0.3) respectively at two different temperatures. The pyrolysis products obtained using a semi-batch reactor are characterized to know their composition and other properties.     

稻壳粉燃烧过程中颗粒尺寸和形态的演变

以颗粒尺寸为250 ~ 300 μm的稻壳粉为研究对象,通过高温沉降炉中的热解和燃烧实验结合颗粒样品的扫描电子显微镜图像分析方法,研究了稻壳粉燃烧过程中颗粒尺寸和形态的变化及热解、燃烧条件的影响。结果表明,热解时颗粒宽度等尺寸参数均缩小,温度的影响较小;焦燃烧时颗粒尺寸因破碎明显减小,温度、气氛等燃烧条件通过影响破碎进而影响尺寸变化。对于形态参数,热解和燃烧后横纵比的变化及实验条件对其变化的影响与尺寸参数相似;热解和燃烧后圆形度几乎无变化;圆度在热解后变化也较小,而燃烧后明显减小;实验条件对圆形度、圆度的变化几乎无影响。     

A Survey on Filtering Issues for Two-Dimensional Systems: Advances and Challenges

International Journal of Control, Automation and Systems - In the past few decades, both theoretical developments and practical applications of the two-dimensional (2-D) systems have received...