一种直升机避障电力线检测方法

电力线是一类形状细长、特征稀疏、随着视角的变化容易混淆在大量背景信息中的特殊障碍物，常规电力线检测识别算法得到的目标框对电力线所在位置的估计不够准确。为此，提出了一种相对角度估计方法，基于常规电力线目标检测与识别算法，并结合电力线相对角度估计，从而提高电力线的检测识别过程中所在位置的精度。相比电力线绝对角度回归的方法，提出的相对角度估计方法容易训练易收敛，计算量小，适用于实时性要求较高的应用场合。     

“三软”煤层沿空掘巷围岩力学环境及支护体承载性能分析

为应对"三软"煤层综放沿空掘巷围岩稳定性差的问题,通过数值模拟分析、揭示"三软"煤层中锚杆、锚索载荷变化规律及其与围岩变形相互作用关系,为"三软"煤层沿空掘巷锚网支护参数优化提供理论依据,改善了巷道支护状况,降低相邻工作面间保护煤柱压煤率,提高矿井经济效益和社会效益。     

Bioinspired Triboelectric Soft Robot Driven by Mechanical Energy

A sustainable power source is a key technical challenge for practical applications of electrically responsive soft robots, especially the required voltage is over several thousand volts. Here, a practicable new technology, triboelectric soft robot (TESR) system with the primary characteristics of power source from mechanical energy, is developed. At its heart is TESR with bioinspired architectures made of soft-deformable body and two triboelectric adhesion feet, which is driven and accurately controlled through triboelectric effect, while reaching maximum crawling speeds of 14.9 mm s⁻¹ on the acrylic surface. The characteristics of the TESR, including displacement and force, are tested and simulated under the power of a rotary freestanding triboelectric nanogenerator (RF-TENG). Crawling of TESR is successfully realized on different materials surfaces and different angle slopes under the driven of RF-TENG. Furthermore, a real-time visual monitoring platform, in which TESR carries a micro camera to transmit images in a long narrow tunnel, is also achieved successfully, indicating that it can be used for fast diagnosis in an area inaccessible to human beings in the future. This study offers a new insight into the sustainable power source technologies suitable for electrically responsive soft robots and contributes to expanding the applicability of TENGs.     

Behavior of Decayed Spruce (Picea abies) during Kraft Pulping

This study indicated that by applying an improved classification system to decayed large-diameter Norway spruce (Picea abies) wood, its use as raw material for kraft pulping without loss of pulp quality could be essentially increased. This is based on the fact that although the cooking yield of decayed spruce material which has been sorted according to these new recommendations is somewhat lower and Kappa number higher than those of sound wood material, the greatest part of the decayed stem (the outer part of the stem) contains long-fiber wood material which produces pulp of good quality. Therefore, large-diameter spruce logs can also be separately used, for example, in the manufacture of reinforcement pulp.     

高预应力高强度锚索支护在深井高应力巷道的应用

以红四煤矿深井高应力巷道支护为例,在研究地应力状态、围岩强度、岩石成分的前提下,通过数值模拟方式确定了高预应力高强度高刚度锚杆锚索联合支护方案。通过对试验巷道变形移近量监测发现,两帮移近变形呈稳定状态的时间提前,巷道顶底板变形状况有所改善。     

网络安全等级保护测评中测评结论的度量方法优化

文章分析了网络安全等级保护2.0时期国家标准的新变化对等级测评结论可能产生的影响,并用实际案例和数据论述了以往描述的基于测评指标和基于测评对象的定量分析方法存在的局限性。根据网络安全等级保护国家标准结构和内容的新特点,结合新的等级测评结论表述方法,文章提出了调整和优化定量计算产生等级测评结论的思路,给出了缺陷扣分的原理和缺陷扣分的定量计算方法,并比较了各种定量计算方法在计算结果上的差异,提出了适合新标准的测评结论定量计算公式。     

小尺度交通信号灯的检测与状态识别

交通信号灯识别包括检测和状态识别，在智能交通系统中发挥重要作用。基于YOLOv3算法提出了一种交通信号灯检测与状态识别模型。针对交通信号灯相较于交通场景中其他目标具有尺度小的特性进行了算法的设计：降低骨干网络的下采样倍率以增加小尺度目标的特征描述能力；通过增大特征图的尺度来改进多尺度特征融合；引入广义交并比作为检测任务的损失函数来改进目标边界框的回归效果。同时，根据交通信号灯本身的特性，使用颜色和形状约束的方法对信号灯进行状态识别和类别验证。最后在公开的Bosch交通信号灯数据集上和实际的城区道路进行了实验验证。实验结果表明，所提出的算法能够提升交通信号灯识别的精度和召回率，识别准确率可以达到90%左右。     

桁架式火星探测器的着陆缓冲特性分析

着陆缓冲机构是着陆器实现行星探测软着陆的关键部位之一,它的缓冲性能直接关系到着陆器是否能安全地在行星表面实现软着陆。根据某院提供的火星着陆器模型,在三维建模软件中建立着陆器的合理简化模型,为了提高分析着陆器软着陆过程冲击响应的准确性,采用MSC公司的Patran/Dytran有限元软件,用瞬态动力学的方法对着陆器的缓冲性能进行分析。仿真结果与试验数据十分吻合,着陆器的缓冲和传力性能良好。因此,采用拉杆缓冲的桁架式火星着陆器是可行的,仿真结果与试验数据也为今后的火星探测提供了参考。