农村综合能源系统多层协同优化运行方法

农村综合能源系统通过多种能源的协同互补,在满足农村用户多元化用能需求的同时,能有效提升能源利用效率和用能经济性。首先,在考虑适应农村典型场景的基础上,提出了一种三层协同自律的农村综合能源分层协同运行优化框架。然后,基于农村综合能源系统典型设备,建立了三层农村综合能源系统源-储-荷联合优化调度模型以及相应的优化调度流程。调度模型中冬季通过对沼气发电机组的余热回收与空气源热泵协同对用户供热;夏季对沼气发电机组余热进行回收,并通过溴化锂制冷机与空气源热泵联合对农村用户供冷。最后,对农村综合能源系统多层协同优化方法进行了算例分析,结果表明该优化方法提高了农村居民用能的经济性,验证了所提方法的有效性。     

Synthesis,structure, CO oxidation,and H2 production activities of CaCu3−xMnxTi4−xMnxO12 (x = 0, 0.5, and 1.0)

Synthesis of nanocrystalline pristine and Mn-doped calcium copper titanate quadruple perovskites, CaCu_3?xMn_xTi_4?xMn_xO₁₂ (x = 0, 0.5, and 1.0) by modified citrate solution combustion method has been reported. Powder X-ray diffraction patterns attest the phase purity of the perovskite materials. Average particle sizes of all the materials obtained from the Scherrer's formula are in the range of 55–70 nm. The specific surface areas for all the perovskites obtained from BET isotherms are found to be low as expected for the condensed oxide systems and fall in the range of 13–17 m² g^?1. Transmission electron microscopy studies show a reduction in particle size of CaCu₃Ti₄O₁₂ with increase in Mn doping. Ca and Ti are present in +2 and +4 oxidation states in all the materials as demonstrated by X-ray photoelectron spectroscopy analyses. Cu²⁺ gets reduced in CaCu₃Ti₄O₁₂ with higher Mn content. Mn is observed to be present only in +3 oxidation state. All the materials have been examined to be active in CO oxidation as well as H₂ production from methanol steam reforming. CaCu₃Ti₄O₁₂ with ~14 at.% Mn is found to show best catalytic activities among these materials. A comprehensive analysis of the catalytic activities of these perovskites toward CO oxidation and H₂ production from MSR reveal the cooperative activity of copper-manganese in the doped perovskites and it is more effective at lower manganese content.     

考虑交叉销售的O2O供应链合作广告策略研究

基于网络零售平台与制造商的合作广告实践，运用Stackelberg博弈理论研究了平台交叉销售效应及合作广告引导作用对O2O供应链合作广告决策的影响，并通过数值算例对参与合作广告计划前后渠道成员的决策变量均衡结果和利润进行对比分析，研究发现平台交叉销售效应是影响网络零售平台合作广告计划制定和实施的关键因素，只有当其达到一定水平时，制造商才拥有参与网络零售平台合作广告计划的资格；在一定条件时，合作广告计划能够实现制造商和网络零售平台利润的提升；当平台交叉销售效应较大时，网络零售平台获得的利润大于制造商。     

Two-Phase Bidirectional Dual-Relay Selection Strategy for Wireless Relay Networks

In this article, we introduce a new bi-directional dual-relay selection strategy with its bit error rate (BER) performance analysis. During the first step of the proposed strategy, two relays out of a set of N relay-nodes are selected in a way to optimize the system performance in terms of BER, based on the suggested algorithm which checks if the selected relays using the max-min criterion are the best ones. In the second step, the chosen relay-nodes perform an orthogonal space-time coding scheme using the two-phase relaying protocol to establish a bi-directional communication between the communicating terminals, leading to a significant improvement in the achievable coding and diversity gain. To further improve the overall system performance, the selected relay-nodes apply also a digital network coding scheme. Furthermore, this paper discusses the analytical approximation of the BER performance of the proposed strategy, where we prove that the analytical results match almost perfectly the simulated ones. Finally, our simulation results show that the proposed strategy outperforms the current state-of-the-art ones.     

Ground robotics in tunnels: Keys and lessons learned after 10 years of research and experiments

The work reported in this article describes the research advances and the lessons learned by the Robotics, Perception and Real‐Time group over a decade of research in the field of ground robotics in confined environments. This study has primarily focused on localization, navigation, and communications in tunnel‐like environments. As will be discussed, this type of environment presents several special characteristics that often make well‐established techniques fail. The aim is to share, in an open way, the experience, errors, and successes of this group with the robotics community so that those that work in such environments can avoid (some of) the errors made. At the very least, these findings can be readily taken into account when designing a solution, without needing to sift through the technical details found in the papers cited within this text.     

一种大型复杂构件加工新模式及新装备探讨

大型复杂构件是航空航天、能源、船舶等领域装备的核心结构件，此类构件通常具有尺寸大、形状复杂、刚性弱等特点。传统“分体离线加工-在线检测”模式存在工艺不稳定、过程复杂、柔性差、周期长等问题，以龙门式多轴数控机床加工为代表的“包容式”加工模式，难以适应大型复杂构件的高效高质量加工制造需求。提出一种基于移动式和吸附式机器人的多机协同原位加工新模式，通过多机器人系统自主寻位、精确定位加工与加工质量原位检测，实现大型复杂构件多安装面并行铣削、制孔与打磨等作业。多机器人系统包括移动式混联机器人、吸附式并联机器人、移动式串联铣削机器人、移动式双臂加工机器人和移动式打磨机器人。构建多机协同原位加工模式，需要揭示多机器人协同原位加工行为与大型弱刚性结构件质量控制的交互机理，面临着本体、测量、工艺和集成四个方面的挑战，需要设计高灵活、高刚度的移动式和吸附式加工机器人，解决移动机器人自主准确寻位和超大结构件原位高精检测难题，攻克加工变形误差在线补偿和振动抑制技术，通过集成实现多机协同高效高精加工，为大型复杂构件的高效高质量制造提供创新技术及装备，并实现此类构件制造核心技术及装备自主可控。     

Adaptive actuator failure compensation for cooperative robotic manipulators with parameter uncertainties

This article develops a new framework of adaptive actuator failure compensation control for cooperative manipulator systems with parameter uncertainties in addition to actuator failures, and designs and analyzes effective actuator failure compensation schemes for such robotic systems. The new adaptive control design uses an integration of multiple individual failure compensators and direct adaptation to handle various types of uncertainties in such robotic systems. The design can also be used for concurrent actuator failure cases, to expand the capability of adaptive actuator failure compensation. With a complete proof and performance analysis, it is shown that the proposed control scheme guarantees the desired closed-loop stability and asymptotic output tracking, despite actuator failures whose patterns, time instants and values are all unknown. Simulation results of a benchmark cooperative manipulator system are presented to verify the desired control performance of the system with both typical constant and square-wave actuator failure signals.     

瓦斯抽采钻孔水射流协同修护技术研究与应用

瓦斯抽采钻孔普遍存在因变形、煤渣积聚及塌孔等导致钻孔堵塞和抽采效果差的问题。通过分析钻孔塌堵失稳机制,得出煤岩体性质、地质构造及多应力耦合条件是造成钻孔失稳的主要因素,进而推断相应堵孔段情形。利用高压水射流解堵作用,提出了水射流疏通-筛管护孔协同修护技术,并研制出轻型气动钻孔修复装备。应用结果表明,该协同修护技术能有效解决瓦斯抽采钻孔塌堵后无法有效抽采的技术难题,试验钻孔修护深度达到50 m,修护完成后单孔抽采瓦斯浓度和瓦斯纯流量比修复前提高0.57~3.67倍和0.99~5.15倍,抽采效果大幅改善,实现了塌堵钻孔的快速便捷修复进而确保了瓦斯流动通道的畅通。     

基于协同多目标算法的多机器人路径规划

多机器人路径规划是群体机器人协同工作的前提,其特点是在防碰撞与避障的前提下追求多方面资源的最小消耗.针对这一特点,提出协同非支配排序遗传算法,解决具有多个优化目标的多机器人路径规划问题;运用改进的多目标优化算法,克服多目标优化取权值的不足,同时考虑机器人能源与时间两大资源,以多机器人的路径总长度、总平滑度、总耗时为规划目标.同时引入合作型协同算法框架,将难以求解的多变量问题分组求解.每个机器人的路径视为子种群,子种群通过带精英策略的非支配排序遗传算法,进化并筛选出子种群的部分进入协同进化,每次迭代更新外部的精英解集,最终生成一组非支配路径解.仿真结果表明,在栅格地图环境下,本文算法可有效实现多移动机器人的多优化目标路径规划.