基于光刀图像的机器人示教纠偏方法

为了解决机器人辅助在线检测系统示教过程中效率低、人为干预多的问题,针对孔类特征,提出一种通过处理光刀图像获取机器人位姿纠正参数的方法。在该方法中,纠偏过程按照将图像光刀线调整为水平方向、将被测特征调整至图像中央、根据不同特征调整最优扫描方向3个步骤进行。根据光刀图像可以求出测量坐标系与被测特征的位姿关系,并得到该位姿与理想测量位姿的偏差。经过坐标变换即可得到在机器人基坐标系下的调整参数。另外,可利用电脑控制机器人运动,从而实现了纠偏过程的自动化。实验结果表明,该方法可将初始的示教位姿修正为理想位姿,且比传统方式效率更高。     

火电机组一次调频性能实时监测系统

为了实时监测和评价火电机组一次调频性能，开发了火电机组一次调频性能实测监测系统。该系统具有一次调频参数异动感知、一次调频性能量化预测及自适应校正等关键功能。某机组的实际应用表明，该系统能够实现火电机组一次调频关键参数的实时监测和调频性能的准确预测。     

Removing data and using metafounders alleviates biases for all traits in Lacaune dairy sheep predictions

Bias in dairy genetic evaluations, when it exists, has to be understood and properly addressed. The origin of biases is not always clear. We analyzed 40 yr of records from the Lacaune dairy sheep breeding program to evaluate the extent of bias, assess possible corrections, and emit hypotheses on its origin. The data set included 7 traits (milk yield, fat and protein contents, somatic cell score, teat angle, udder cleft, and udder depth) with records from 600,000 to 5 million depending on the trait, ～1,900,000 animals, and ～5,900 genotyped elite artificial insemination rams. For the ～8% animals with missing sire, we fit 25 unknown parent groups. We used the linear regression method to compare “partial” and “whole” predictions of young rams before and after progeny testing, with 7 cut-off points, and we obtained estimates of their bias, (over)dispersion, and accuracy in early proofs. We tried (1) several scenarios as follows: multiple or single trait, the “official” (routine) evaluation, which is a mixture of both single and multiple trait, and “deletion” of data before 1990; and (2) several models as follows: BLUP and single-step genomic (SSG)BLUP with fixed unknown parent groups or metafounders, where, for metafounders, their relationship matrix gamma was estimated using either a model for inbreeding trend, or base allele frequencies estimated by peeling. The estimate of gamma obtained by modeling the inbreeding trend resulted in an estimated increase of inbreeding, based on markers, faster than the pedigree-based one. The estimated genetic trends were similar for most models and scenarios across all traits, but were shrunken when gamma was estimated by peeling. This was due to shrinking of the estimates of metafounders in the latter case. Across scenarios, all traits showed bias, generally as an overestimate of genetic trend for milk yield and an underestimate for the other traits. As for the slope, it showed overdispersion of estimated breeding values for all traits. Using multiple-trait models slightly reduced the overestimate of genetic trend and the overdispersion, as did including genomic information (i.e., SSGBLUP) when the gamma matrix was estimated by the model for inbreeding trend. However, only deletion of historical data before 1990 resulted in elimination of both kind of biases. The SSGBLUP resulted in more accurate early proofs than BLUP for all traits. We considered that a snowball effect of small errors in each genetic evaluation, combined with selection, may have resulted in biased evaluations. Improving statistical methods reduced some bias but not all, and a simple solution for this data set was to remove historical records.     

基于误差估值累加开环校正的诱导式欺骗检测方法

诱导式卫星欺骗干扰可诱导航空器逐渐偏离预定航迹，难以被发现，因此及时有效地检测干扰是飞行安全的保障。在现有紧组合导航体制基础上，设计了一种基于误差估值累加开环校正的紧组合导航结构，并证明了其性能与传统闭环校正紧组合导航性能等效。在此结构中，将紧组合导航系统与自适应序贯概率比检测方法结合，提出了一种基于误差估值累加开环校正的诱导式欺骗检测方法，融合紧组合导航信息与其他不受欺骗影响的导航信息，构建欺骗检测统计量进行诱导式欺骗检测。仿真结果表明，开环校正结构可避免随时间累加的惯性导航系统误差所导致的组合导航滤波器发散问题，同时欺骗检测方法可进一步提高算法对“最坏”情形下微小诱导式欺骗的检测效果。     

Dependence of mechanical and tribological performance on the microstructure of (CrAlTiNbV)Nx high-entropy nitride coatings in aviation lubricant

The (CrAlTiNbV)N_x coatings are fabricated by controlling the substrate bias via magnetron sputtering method. Under low substrate bias, the coating tends to form a loose columnar crystal structure with (200) preferred orientation. However, when the substrate bias increases, the coating transforms into a dense nanocrystalline structure, and the (111) orientation is enhanced. As the substrate bias increases, the residual stress and hardness of the coating gradually increase, while the adhesion strength decreases slightly. Friction tests show that the coating possesses the lowest average friction coefficient (about 0.06) and wear rate (8.7 × 10^-9 mm³/N·m) in 4050# aviation lubricant, which is achieved under the substrate bias of -96 V and -126 V, respectively.     

Ferroelectric and electromechanical performance of diverse engineered states of Mn-doped 0.75Pb(Mg1/3Nb2/3)O3-0.25PbTiO3 ceramics

The materials processing history has a great influence on their properties and finally determines their application effect. In this paper, the ferroelectric, polarization-switching current, and strain properties of Mn-doped 0.75Pb(Mg_1/3Nb_2/3)O₃-0.25PbTiO₃ ceramics were studied in fresh state, aged state, and poled state, respectively. Compared with the symmetric polarization-electric-field (P-E) hysteresis loops, current-density-electric-field (J-E) curves, and bipolar electric-field-induced strain (S-E) curves in fresh state samples, asymmetric P-E loops, J-E curves, and bipolar S-E curves were obtained in poled state samples. Well-aged-state samples exhibit double hysteresis P-E loop, four peaks J-E curves, and symmetric S-E curves without negative strain. The symmetry-conforming short-range order (SC-SRO) principle of point defects and internal electric field E_i is employed to clarify the different phenomenon of three states. Results indicated that randomly oriented defect polarization P_D in aged samples can reverse the spontaneous polarization P_S back and result in the double hysteresis P-E loop and four peaks J-E curves. The oriented P_D and resulting E_i in poled-state samples will lead to the asymmetric loops and strain memory effect.     

A Case of Double Standard: Sex Differences in Multiple Sclerosis Risk Factors

Multiple sclerosis is a complex, multifactorial, dysimmune disease prevalent in women. Its etiopathogenesis is extremely intricate, since each risk factor behaves as a variable that is interconnected with others. In order to understand these interactions, sex must be considered as a determining element, either in a protective or pathological sense, and not as one of many variables. In particular, sex seems to highly influence immune response at chromosomal, epigenetic, and hormonal levels. Environmental and genetic risk factors cannot be considered without sex, since sex-based immunological differences deeply affect disease onset, course, and prognosis. Understanding the mechanisms underlying sex-based differences is necessary in order to develop a more effective and personalized therapeutic approach.     

优化GD-模糊规则的滑坡预报模型研究

为了提高滑坡灾害预报准确率，改善传统的滑坡监测和预报中存在的参数选取困难及模糊控制系统作为预报模型精确度不高的问题，首先采用山体结构稳定性分析法进行滑坡灾害参数的选取，得出降雨量、含水率、土压力及岩土表面位移增量作为预报参数的结论；其次将选取的参数作为模糊系统的输入，建立滑坡灾害发生概率模型，并引入优化的GD算法修正预报模型中的动态参数，使模糊控制模型具有自适应性；同时与未优化的模糊控制模型以及单独模糊控制模型进行仿真对比，仿真结果表明，该控制算法收敛速度快，具有很好的收敛性；最后将该模型在某滑坡重点灾区实验区进行实验测试，实验结果显示该模型具有较好的收敛性，且预报精度达到90%。     

面向智能客服的句子相似度计算方法

针对金融领域中智能客服的句子相似度计算方法进行了研究。利用基于词性的分词纠正模型减少中文歧义词、金融相关词汇的分词错误；通过词向量方法和循环神经网络分别提取词语级和句子级的语义特征，并且得到句子向量；用融合层计算出句子向量间的差异特征；对差异特征进行降维和归一化得到句子相似度计算结果。实验结果表明，该方法具有较高的准确率和[F1]值。     

Deposition of UF5 on the surface of steel material having oxide coating in contact with gaseous UF6

When UF6 is handled in leak tight system, the amount of uranium compound formed on the surface of containers, valves, and others in UF6 handling facilities is not so significant for a short term that special attention has not been given to this problem. The present work was done to throw some more light on this problem based on the recent experiment. We discuss the possibility that the intermolecular transfer of a fluorine atom from UF6 to UF5 may participate in the formation of uranium compound. The discussion includes also the unique features contained in the experimental result, the reaction processes assumed in this problem, and the derivation of a rate equation for expressing the deposition of uranium compound. Furthermore, we propose a new method for determining nonlinear parameters included in a governing differential equation having two variables for expressing the deposition of uranium compound from experimental raw data.