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1.
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   
2.

Fe-based bulk metallic glasses (BMGs) with high boron content have potential application as a coating material used in the framework for storing spent nuclear fuels to support their safe long-term disposal. The high glass forming ability (GFA) and large supercooled liquid region are therefore required for such Fe-based BMGs in either the glassy powder fabrication or the subsequent coating spraying. In order to meet these requirements, the influence of Nb content on the GFA of Fe57Cr10Zr8B18Mo7−xNbx (x=1–5, at.%) alloys was investigated, as Nb has positive roles in GFA and thermal stability of BMGs. The results indicate that a fully amorphous phase in the as-cast samples with 3 mm in diameter is obtained for both the Fe57Cr10Zr8B18Mo5Nb2 and Fe57Cr10Zr8B18Mo4Nb3 alloys. The corresponding supercooled liquid regions of the two BMGs are 78 K and 71 K, respectively. The mechanism for improving their GFA was analyzed based on the principle of metal solidification, the parameters for glass formation and thermal properties of the alloys. The compression strength and Vicker’s hardness of the two BMGs are 1,950 MPa and 1,310 HV, 2,062 MPa and 1,180 HV, respectively. The developed BMGs with high B content, good GFA, and very high hardness can be used as coating materials to the framework for spent nuclear fuels.

  相似文献   
3.
Microbiologically influenced corrosion induced by bacteria has been studied for many years. Corrosion is known to be sensitive to the presence of microalgae, such as Phaeodactylum tricornutum. However, the life activity of P. tricornutum that influences the general and localized corrosion of carbon steel is not fully understood. The current study uses a combination of immersion tests and electrochemical experiments with a detailed surface characterization to reveal the naturally formed corrosion products with/without the presence of P. tricornutum. The results show that samples suffer from pitting corrosion and the averaged pit depths are approximately 15 μm under a light–dark cycle condition or a 24-h constant light condition. Meanwhile, the corrosion products are mainly comprised of γ-FeOOH and Fe3O4 in a constant light condition. However, γ-FeOOH, Fe3O4, and FeCO3 are found in a light–dark cycle. This study proposes the fundamental mechanisms of the effect of P. tricornutum life activities on the corrosion performance of Q235 carbon steel, to fulfill the knowledge gaps of the presence of microalgae inducing the general and pitting corrosion of carbon steel.  相似文献   
4.
低压电流互感器作为电网中的关键设备,已经得到广泛使用。低压电流互感器故障诊断的在线检定也显得十分重要。提出了一种改进的全局平均池化的一维卷积神经网络(1DCNN-SVM)故障诊断模型应用于低压电流互感器在线检定。该方法改进了传统卷积神经网络(CNN)模型的结构,引入全局平均池化而不是全连接网络结构,并在测试阶段使用支持向量机(SVM)替代Softmax函数。通过进行实验分析,将所提的方法与传统的CNN进行实验对比,实验结果表明所提方法在训练时间、测试时间以及模型的测试精度等方面的表现都比传统的CNN结构模型要好。  相似文献   
5.
碳达峰、碳中和目标是党中央国务院审时度势提出的重大战略决策,是我国能源行业革命性的变革,将对全球能源供需格局产生深远影响,为我国能源矿产未来发展指明了方向。我国作为世界最大的能源生产国和消费国,煤炭资源丰富,石油、天然气、铀等能源矿产自主供应能力不足,未来较长时间内能源矿产在我国一次能源消费中仍居主导地位。受资源禀赋、工业化发展阶段和以煤为主的能源消费结构等因素影响,我国承诺实现碳中和的目标和发达国家相比面临的挑战更加艰巨。本文通过梳理我国能源矿产发展现状,碳达峰、碳中和目标背景下初步预测2030年前我国化石能源消费将达到峰值45亿t标准煤左右,2060年非化石能源消费将占我国一次能源消费的85%左右。通过展望煤炭、石油、天然气等能源矿产的发展方向,从三个方面提出了相关政策建议:一是加强国内能源矿产发展利用的顶层设计;二是大力提升国内油气资源自主供应能力;三是处理好碳达峰、碳中和目标约束与能源安全保障的关系。  相似文献   
6.
High-density La0.9-xSrxK0.1MnO3 ceramics (LSKMO, A-site = La, Sr and K, 0 ≤ x ≤ 0.25) are successfully fabricated by using facile sol-gel method. Electrical properties are performed by using combination of phenomenological percolation (PP) model, double exchange (DE) mechanism, and Jahn-Teller (JT) effect. Moreover, X-ray diffraction and scanning electron microscopy are employed to analyze the structure and morphology of LSKMO ceramics. Valence states and ionic stoichiometry are assessed by using X-ray photoemission spectrometry. Results reveal that Sr2+ ions, substituting La3+ ions, significantly influenced DE mechanism and JT effect. In addition, Sr-doping plays essential role in improving electrical properties of LSKMO ceramics. At optimal doping content of x = 0.09, peak temperature coefficient of resistance (TCR) of the resistivity is found to be 11.56% K?1 at 297.15 K, which is optimal TCR for A-site K-occupied perovskite manganese oxides. These results confirm that polycrystalline LSKMO ceramics render high room-temperature TCR values due to Sr-doping.  相似文献   
7.
可控关断的电流源型换流器(current source converter,CSC)相较于LCC和VSC具有较好的技术优势,逆阻型大功率可关断半导体器件的快速发展为CSC在高压直流输电领域的应用提供了发展契机。针对现有CSC的拓扑、调制方法的优缺点进行调研和对比,分析总结出适用于高压直流输电的LCC-CSC拓扑和特定谐波消除调制方法。将基于LCC-CSC的混合直流输电系统与LCC和VSC进行多方位的对比分析,对LCC-CSC的技术优点、存在的问题及未来研究的方向进行了总结,为CSC在高压直流输电的工程应用提供前期研究基础。  相似文献   
8.
Carbon black (CB) filled elastomers are structurally complex materials that offer unique properties at different length scales. They have tremendous potential applications in a number of fields including the automotive and aerospace industries and for designing innovative smart materials such as artificial muscles but their applications remain limited primarily due to inadequate understanding of their unique mechanical properties. Here, using the Berkovich technique to probe the surface mechanical properties at different scales the nanoindentation response of a series of composites made by homogeneously dispersed CB nanoparticles inside a semicrystalline copolymer matrix has been explored. While the measured loading part of the force–displacement curves is well described by Meyer's empirical power relation, the inverted methodology (IM) approach to deal with the unloading part has been considered and its outcome has been compared with that obtained from the standard Oliver–Pharr's method. The results were consistent with the observed increase of hardness when the applied displacement decreases for all composite samples over a large range of CB volume fraction. Zhang and Xu's model is demonstrated to produce experimentally consistent explanation of this indentation size effect. X-ray photoelectron spectroscopy (XPS) spectra also show composition gradients with depth up to 100 nm. Furthermore, the effect of CB content, surface features, and length scale-dependent deformation on the hardness–displacement behavior have been considered. These findings highlight the possibility of attaining a diverse set of mechanical properties by a better understanding of the nanoindentation response of CB filled elastomers which can be useful for material selection and design improvements in a number of practical applications.  相似文献   
9.
Numbers of patients with coronavirus disease 2019 (COVID-19) have increased rapidly worldwide. Plasma levels of full-length galectin-9 (FL-Gal9) and osteopontin (FL-OPN) as well as their truncated forms (Tr-Gal9, Ud-OPN, respectively), are representative inflammatory biomarkers. Here, we measured FL-Gal9, FL-OPN, Tr-Gal9, and Ud-OPN in 94 plasma samples obtained from 23 COVID-19-infected patients with mild clinical symptoms (CV), 25 COVID-19 patients associated with pneumonia (CP), and 14 patients with bacterial infection (ID). The four proteins were significantly elevated in the CP group when compared with healthy individuals. ROC analysis between the CV and CP groups showed that C-reactive protein had the highest ability to differentiate, followed by Tr-Gal9 and ferritin. Spearman’s correlation analysis showed that Tr-Gal9 and Ud-OPN but not FL-Gal9 and FL-OPN, had a significant association with laboratory markers for lung function, inflammation, coagulopathy, and kidney function in CP patients. CP patients treated with tocilizumab had reduced levels of FL-Gal9, Tr-Gal9, and Ud-OPN. It was suggested that OPN is cleaved by interleukin-6-dependent proteases. These findings suggest that the cleaved forms of OPN and galectin-9 can be used to monitor the severity of pathological inflammation and the therapeutic effects of tocilizumab in CP patients.  相似文献   
10.
The low cost and highly efficient construction of electrocatalysts has attracted significant attention owing to the use of clean and sustainable energy technologies. In this work, cobalt nanoparticle decorated N-doped carbons (Co@NC) are synthesized by the pyrolysis of a cobalt covalent organic framework under an inert atmosphere. The Co@NC demonstrates improved electrocatalytic capabilities compared to N-doped carbon without the addition of Co nanoparticles, indicating the important role of cobalt. The well-dispersed active sites (Co–Nx) and the synergistic effect between the carbon matrix and Co nanoparticles greatly enhance the electrocatalytic activity for the oxygen reduction reaction. In addition, the Co content has a significant effect on the catalytic activity. The resulting Co@NC-0.86 exhibits a superb electrocatalytic activity for the oxygen reduction reaction in an alkaline electrolyte in terms of the onset potential (0.90 V), half-wave potential (0.80 V) and the limiting current density (4.84 mA·cm–2), and a high selectivity, as well as a strong methanol tolerance and superior durability, these results are comparable to those of the Pt/C catalyst. Furthermore, the superior bifunctional activity of Co@NC-0.86 was also confirmed in a home-built Zn-air battery, signifying the possibility for application in electrode materials and in current energy conversion and storage devices.  相似文献   
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