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。     

The influence of mining factors on seismic activity during longwall mining of a coal seam

In this article an attempt to determine the influence of mining factors on the seismic activity during the longwall mining of the upper layer of coal seam no. 405/2 in one of the Polish hard coal mines in the Upper Silesian Coal Basin was conducted. Two longwall panels were mined in analogous geological conditions and based on the same mining system and technology. However, there was significant difference with regards to the mining factors, which was reflected in the observed seismic activity. Some tools used in mining seismology were applied to illustrate the aforementioned influence of mining factors, e.g. the frequency-energy distribution, the frequency-magnitude distribution, the 2 D distribution of released seismic energy, the relationship between released seismic energy and the volume of mined coal, the Benioff strain release, and the Gutenberg-Richter(GR) b coefficient distribution(b is the proportion between high and low energy tremors). Concerning the Benioff strain release, a new solution, based on the slope of a fitted line in a moving time window, is proposed.     

煤泥燃烧过程中汞的迁移行为研究

采用在线汞测试方法，以山西省低热值煤电厂中掺烧的煤泥为研究对象，利用实验室小型流化床，研究煤泥中汞的热转化行为差异及共性特征、影响煤泥热转化过程中汞迁移的关键因素，以揭示煤泥热转化过程中汞污染物的迁移机理。结果表明，同一种煤泥，相同气氛，800、900、1 000 ℃下，燃烧温度对煤泥中的汞的释放比例没有变化；相同温度，汞的释放比例为氮气>空气>氧气。3种煤泥在相同燃烧条件下，汞的释放特征相似，元素汞的释放量和释放比例差异较大。释放量与煤泥中的汞含量正相关，释放比例与煤泥中汞的赋存形态有一定关系。     

基于ADAMS和MATLAB的双足机器人运动轨迹规划和控制的联合仿真

相比ADAMS仿真的不稳定性,利用ADAMS和MATLAB联合仿真对双足机器人运动轨迹规划和控制设计的可靠性及高效性进行了研究。首先绘制双足机器人三维参数模型进行逆运动学分析,验证其合理性后导入ADAMS中添加约束,进行动力学仿真。基于此,在MATLAB中使用多项式插值法完成模型的步态规划。最后利用Simulink试验台建立控制系统的框图,由ADAMS输入关节角之后控制台输出关节的驱动力矩,完成双足机器人ADAMS和MATLAB的联合仿真。仿真结果显示,联合仿真相较于ADAMS仿真的波动性所获得的数据更加稳定,此法高效可行,可作为下一步设计双足机器人的控制系统电机选型的重要理论依据。     

煤矿5G分布式MIMO组网技术研究（增刊）

根据煤矿井下的安全防爆要求，天线的射频发射功率受到严格限制，导致煤矿5G的基站部署密度显著高于地面场景。为了解决由此引发的交叉覆盖问题，本文提出了煤矿5G分布式MIMO组网技术，利用分布在不同位置的天线实现对用户数据的联合并行发送，不仅避免了由交叉覆盖导致的乒乓切换等负面效应，还提升了边缘区域的信号覆盖效果。在乌兰木伦煤矿的300米采煤工作面内，利用分布式MIMO组网技术实现了5G信号的无边界覆盖，上行速率不低于500Mbps，保障了煤机数据的实时有效传输。     

Physiochemical structure of semicoke derived from co-carbonization of coal and sawdust blends

The substitution of coal blending with sawdust had been widely investigated for metallurgical coke production. In this paper, the physiochemical structures of the semicoke derived from sawdust/coals blends co-coking were characterized by several analytical techniques including FTIR-ATR, XPS, NMR, OM, and SEM. Meanwhile, the influence of the sawdust on the physicochemical properties of the sawdust/coals blends were also investigated. Results indicated that partial substitution of coal blending with sawdust benefited from the formation of colloid and optical anisotropy due to the positive synergetic effect, whereas high proportion of sawdust (>10 wt%) inhibited the agglomeration of semi-coke. On the other hand, the semicoke consisted primarily of aromatic carbons replaced by the oxygen linked to carbons and aliphatic carbons when the coal blending was replaced by high proportion of sawdust, causing a less polyaromatic graphite-like structure formation in the semicoke.     

Shared human–robot path following control of an unmanned ground vehicle

This paper considers the shared path following control of an unmanned ground vehicle by a single person. A passive measure of human intent is used to blend the human and machine inputs in a mixed initiative approach. The blending law is combined with saturated super-twisting sliding mode speed and heading controllers, so that exogenous disturbances can be counteracted via equivalent control. It is proven that when the proposed blending law is used, the combined control signals from both the human and automatic controller respect the actuator magnitude constraints of the machine. To demonstrate the approach, shared control experiments are performed using an unmanned ground vehicle, which follows a lawn mower pattern shaped path.     

Piecewise constant strain kinematic model of externally loaded concentric tube robots

This paper presents a piecewise constant strain kinematic model for concentric tube robots (CTR) in externally loaded conditions. It discretizes the pre-curved tubes comprising the robot into a finite number of pieces and involves external effects as a set of wrench vectors exerted along the robot backbone. Constant strain lets us describe the pieces with helices in which shear deformation and elongation are neglected. The resulting piecewise helix is the simplest curve that can catch the torsion of tubes that play a crucial role in kinematic behavior. This approximation transforms the conventional boundary value problem (BVP) of CTRs models into a set of nonlinear equations that drastically decreases the model resolution time. The present method uses a Lyapunov function and torsional Jacobian to ensure the distal torsion constraint consistently and, as a result, the solution’s convergence. The paper’s primary purpose is to present a fast, numerically stable, and relatively accurate kinematic model not reliant on measurement data. Experimental results on a two-tube prototype and provided for different tip loading conditions reveal maintaining a balance between adequate accuracy and reasonable running time, about 7 ms for five pieces per section, for real-time applications in the presence of external load.     

煤基高能量密度燃料的合成及表征

高能量密度燃料是为新型高性能飞行器提供动力保障的关键,其合成及应用研究具有重要的前瞻性和重大战略意义。煤炭是我国的主体能源和重要原料,通过煤直接转化获取的煤基油,充分保留了煤中特有的环状分子化学结构,具有良好的热安定性和较高的能量密度,被认为是高超音速飞行器的优选燃料。以煤直接液化工艺生产的煤液化石脑油馏分为起始原料,通过富集轻质芳烃、化学合成、催化加氢稳定和产物分离提纯等方法制备煤基高能量密度燃料,并对其产物进行分子结构表征和性能评价。结果表明,煤直接液化生产的石脑油馏分是一种优异的催化重整原料,经催化重整富集轻质芳烃后,其轻质芳烃质量分数高达71.05%。Diels-Alder化学合成主产物是由多个封闭环平面组成且具有空间立体构型的二环或三环烃类物质,质量分数为46.18%,因分子内存在较大的张力能,结构紧凑,其拥有更大的密度和体积热值。煤基高能量密度燃料的密度和体积热值分别为0.8990 g/cm3与38.06 MJ/L,均大大超过现行的国内石油基喷气燃料(RP-3和RP-6)、煤基大比重喷气燃料、美国和俄罗斯军用标准。与单一纯物质合成高能量密度燃料(JP-10和T-10)比较,其密度与体积热值偏小。究其原因主要是轻质芳烃的富集度仅为71.05%,需进一步提高其轻质芳烃质量分数。另外,制备的煤基高能量密度燃料种类复杂,其主产物质量分数仅46.18%,下一步可重点调控合成产物的分子构型和纯化分离。