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1.
A high-throughput (105.5 g/h) passive four-stage asymmetric oscillating feedback microreactor using chaotic mixing mechanism was developed to prepare aggregated Barium sulfate (BaSO4) particles of high primary nanoparticle size uniformity. Three-dimensional unsteady simulations showed that chaotic mixing could be induced by three unique secondary flows (i.e., vortex, recirculation, and oscillation), and the fluid oscillation mechanism was examined in detail. Simulations and Villermaux–Dushman experiments indicate that almost complete mixing down to molecular level can be achieved and the prepared BaSO4 nanoparticles were with narrow primary particle size distribution (PSD) having geometric standard deviation, σg, less than 1.43 when the total volumetric flow rate Qtotal was larger than 10 ml/min. By selecting Qtotal and reactant concentrations, average primary particle size can be controlled from 23 to 109 nm as determined by microscopy. An average size of 26 nm with narrow primary PSD (σg = 1.22) could be achieved at Qtotal of 160 ml/min.  相似文献   
2.
《Journal of dairy science》2022,105(9):7623-7641
For centuries, multicellular organisms have lived in symbiosis with microorganisms. The interaction with microorganisms has been shown to be very beneficial for humans and animals. During a natural birth, the initial inoculation with bacteria occurs when the neonate passes through the birth canal. Colostrum and milk intake are associated with the acquisition of a healthy gut flora. However, little is known about the microbial composition of bovine colostrum and the possible beneficial effects for the neonatal calf. In this prospective cohort study, the microbial composition of first-milking colostrum was analyzed in 62 Holstein Friesian (HF) and 46 Belgian Blue (BB) cows by performing amplicon sequencing of the bacterial V3–V4 region of the 16S rRNA gene. Calves received, 3 times, 2 L of their dam's colostrum within 24 h after birth. Associations between colostral microbial composition and its IgG concentration, as well as each calf's serum IgG levels, were analyzed. Colostrum samples were dominated by the phyla Proteobacteria, Firmicutes, Bacteroidetes, and Actinobacteria. The 10 most abundant genera in the complete data set were Acinetobacter (16.2%), Pseudomonas (15.1%), a genus belonging to the Enterobacteriaceae family (4.9%), Lactococcus (4.0%), Chryseobacterium (3.9%), Staphylococcus (3.6%), Proteus (1.9%), Streptococcus (1.8%), Enterococcus (1.7%), and Enhydrobacter (1.5%). The remaining genera (other than these top 10) accounted for 36.5% of the counts, and another 8.7% were unidentified. Bacterial diversity differed significantly between HF and BB samples. Within each breed, several genera were found to be differentially abundant between colostrum of different quality. Moreover, in HF, the bacterial composition of colostrum leading to low serum IgG levels in the calf differed from that of colostrum leading to high serum IgG levels. Results of the present study indicate that the microbes present in colostrum are associated with transfer of passive immunity in neonatal calves.  相似文献   
3.
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   
4.
针对线、面特征匹配的激光雷达测距与地图构建算法(Lightweight and Ground-Optimized Lidar Odometry And Mapping,LeGO-LOAM)在自动导引运输车(Automated Guided Vehicle,AGV)室内室外实时建图与定位时,易出现激光里程计累积误差大和旋转估计不准确等问题,本工作采用惯性测量单元(Inertial Measurement Unit,IMU)与激光雷达紧耦合的LeGO-LOAM算法,通过IMU为激光雷达提供的初始位姿信息,构建IMU与激光雷达联合误差函数,实现位姿共同迭代优化.其中,对于室外结构化信息较少时,在点对点的迭代最近点算法(Iterative Closest Point,ICP)较高定位精度的基础上,结合LeGO-LOAM算法和ICP算法互补性,进一步提出基于IMU与激光雷达紧耦合的混合匹配算法:当环境中结构信息较多时,激光里程计采用LeGO-LOAM算法,而当环境中结构化信息较少时采用ICP算法.实验结果表明,基于IMU与激光雷达紧耦合的混合匹配算法可有效降低激光里程计相对位姿误差和累积误差,提高AGV小车定位精度以消除部分地图重影.  相似文献   
5.
基于掘进机随掘震源的巷道侧前方断层成像技术   总被引:3,自引:0,他引:3  
基于掘进机随掘震源的地震超前探测,以掘进机切割煤壁和岩石时产生的地震波作为震源,通过在巷道内长时间连续采集地震波并从中寻找反射波实现巷道超前探测。为了使用连续的随掘地震数据实现巷道前方的地质异常体成像,分析了随掘反射波成像的原理,将数据处理和成像的过程分成了5个主要步骤,首先将随掘数据划分为多个一定长度的时间片段并对每个时间片段进行分析,从中挑选出掘进机正常工作时间较长的片段,通过与参考巷道互相关获得脉冲化记录,再依据每个脉冲化记录中直达槽波的信噪比筛选出合格的脉冲化记录,最后,采用基于射线的绕射偏移法对巷道前方和侧帮区域进行成像。并在阳煤榆树坡矿1215工作面回风巷内开展了随掘探测试验,由布置在煤壁内的检波器采集多日的随掘地震数据,对数据进行了处理和成像。结果表明:将掘进机随掘震源地震数据脉冲化后采用绕射偏移法可以实现掘进面侧前方断层的成像;随掘地震数据中包含大量无效数据,评价数据质量并筛选数据是提高成像质量的重要步骤;直接对掘进工作面前方成像缺乏理论依据,由成像结果推断侧前方断层与巷道延伸线的交点可实现巷道正前方断层位置的预测。  相似文献   
6.
抓取规划和控制是机械臂抓取系统中的难点。为了有效的解决这两个问题,本文提出一种基于机器视觉和单片机相结合的机械臂抓取系统。首先利用前期视觉测量成果对目标定位,然后设计了一种软件接口将目标表面三维信息进行可视化,并通过人为经验手动选择一个良好的抓取点;再结合逆运动学求解和轨迹规划算法,利用单片机驱动舵机使机械臂末端执行器移动到抓取点并完成抓取任务。实验结果表明,该系统成本低、并且目标形状不受限制,达到了预期效果。  相似文献   
7.
The global navigation satellite system (GNSS) is currently being used extensively in the navigation system of vehicles. However, the GNSS signal will be faded or blocked in complex road environments, which will lead to a decrease in positioning accuracy. Owing to the higher-precision synchronization provided in the sixth generation (6G) network, the errors of ranging-based positioning technologies can be effectively reduced. At the same time, the use of terahertz in 6G allows excellent resolution of range and angle, which offers unique opportunities for multi-vehicle cooperative localization in a GNSS denied environment. This paper introduces a multi-vehicle cooperative localization method. In the proposed method, the location estimations of vehicles are derived by utilizing inertial measurement and then corrected by exchanging the beliefs with adjacent vehicles and roadside units. The multi-vehicle cooperative localization problem is represented using a factor graph. An iterative algorithm based on belief propagation is applied to perform the inference over the factor graph. The results demonstrate that our proposed method can offer a considerable capability enhancement on localization accuracy.  相似文献   
8.
The effects of titanium ion implantation on the stress corrosion cracking (SCC) behaviour of 304 austenitic stainless steel were studied. Slow strain rate tests (SSRTs) were conducted on 304 steel in air and in 5?wt-% NaCl solution. The microscopic effects of ion implantation were evaluated by Stopping and Range of Ions in Matter Procedures (SRIM). Fracture morphologies and microstructures were investigated by scanning electron microscopy (SEM) and transmission electron microscopy (TEM). The fracture surfaces illustrate that ion implantation significantly inhibits the corrosion pits that initiate SCC. A dense passive film, which inhibits SCC, was formed during the ion implantation process. SCC initiation was restrained due to the dense dislocation nets that were generated by titanium ion implantation.

Highlights
  • Ion implantation inhibits SCC susceptibility.

  • The lack of Cr at the grain boundary leads to the expansion of SCC along the grain boundary.

  • Implantation-induced damage leads to high-density dislocations.

  • The surface was amorphised due to high-density dislocations.

  相似文献   
9.
风能的波动性、间歇性和随机性等特性使接入风电的电力系统运行特性和电能质量受到复杂的影响。针对风电接入的电力系统电能质量扰动问题,重点研究电能质量扰动的小波检测方法,提出了基于Euclidean分解算法的db4复小波的提升方案。通过Euclidean分解算法得到复小波提升方案,求取了db4复小波自适应提升因子并构建了分解与重构模型,对扰动信号和基波分量进行提升变换后得到幅值和相位信息分别作差。利用幅值差和相位差来确定扰动的幅度和时间,并根据扰动段的幅值差和相位差值实现了扰动起止时刻定位。基于Matlab的仿真结果表明,与复小波相比,该方法能进一步提高风电接入电力系统电能质量扰动信号定位的速度和精度。  相似文献   
10.
Automatic leak localization has been suggested to reduce the time and personnel efforts needed to localize (small) leaks. Yet, the available methods require a detailed demand distribution model for successful calibration and good leak localization performance. The main aim of this work was to analyze whether such a detailed demand distribution is needed. Two demand distributions were used: a factorized distribution that distributes the inflow demand proportionally across the consumption nodes according to individual billing data, and a uniform distribution that equally distributes demand across all consumption nodes. The performance of the automatic leak localization method, using both demand distribution models, was compared. A new measure for leak localization performance that is based on the percentage of false positive nodes is proposed. It was possible to localize the leaks with both demand distribution models, although performance varied depending on the timing and duration of the measurement.  相似文献   
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