Development of human-machine interface for teleoperation of a mobile manipulator

Human-robot control interfaces have received increased attention during the past decades for conveniently introducing robot into human daily life. In this paper, a novel Human-machine Interface (HMI) is developed, which contains two components. One is based on the surface electromyography (sEMG) signal, which is from the human upper limb, and the other is based on the Microsoft Kinect sensor. The proposed interface allows the user to control in real time a mobile humanoid robot arm in 3-D space, through upper limb motion estimation by sEMG recordings and Microsoft Kinect sensor. The effectiveness of the method is verified by experiments, including random arm motions in the 3-D space with variable hand speed profiles.     

单片机在木板自动剪切机中的应用

由于某厂生产各种规格木板的十多台设备专机,全靠人工手动操作的问题。这些设备与现在日益发展的工业自动化设备相比存在着很大的缺陷。本文利用AT89C51单片机进行控制,并在原设备工作台上加装一台三相异步电动机和一条木板送料传送带,使得工人不用在车间工作就可以控制整个生产过程。显著提高了企业生产效率,达到降低生产成本的效果。     

基于MapGIS K9的搭建式工时管理系统研究及设计

分析了搭建式开发方法与传统开发方法相比具有的零代码、可视化、周期短等优势。通过对软件项目管理工作的现状进行分析,采用MapGIS K9搭建项目工时管理信息系统。系统涵盖项目信息管理、工时管理、工时统计、基本信息维护、系统权限管理等几大功能,有助于软件企业对项目进行精细化管理,提高人力资源利用率,解决多项目资源冲突的矛盾。     

城市道路混合路由算法研究

针对城市道路中车辆密度突变而导致车联网系统的信息冗余和数据丢失等问题,提出了一种基于贪婪转发（GPSR）和距离矢量转发（AODV）的自适应限制性混合路由算法（ARHP）,以适应网络环境的高速变化。ARHP将通信网络分为贪婪转发、贪婪-距离矢量转发、距离矢量转发3种模式。通过对有效节点密度和网络状态进行实时评估,可实现转发模式间的切换;通过考察链路质量和端到端的时延性能择优选取邻域节点。采用交通模拟器和离散事件模拟器比较ARHP、AODV和GPSR在改变节点密度或车辆速度时的性能表现,结果表明ARHP在数据包的投递率和端到端的时延性能等方面均优于AODV和GPSR。     

Molybdate and tungstate as corrosion inhibitors for cold rolling steel in hydrochloric acid solution

The inhibition effects of molybdate and tungstate on the corrosion of cold rolling steel (CRS) in hydrochloric acid solution (0.1-0.5 M) were investigated by weight loss and electrochemistry methods. The results reveal that both molybdate and tungstate are very good inhibitors with little concentration. The adsorption of inhibitors on the CRS surface basically obeys the Langmuir adsorption isotherm equation. The effect of temperature on the corrosion behavior of CRS was also studied at 25 °C and 35 °C, the thermodynamic parameters such as adsorption heat (ΔH⁰) and adsorption free energy (ΔG⁰) were calculated. In the same conditions, a comparative study of corrosion inhibition of molybdate and tungstate indicated that molybdate was the better inhibitor in 0.1 M HCl. However, the value of percentage inhibition efficiency (IE) was dependent on the concentration of inhibitors in 0.2-0.5 M HCl. It seemed that molybdate did not have the strong inhibitive effect compared to tungstate with relatively small concentration of inhibitors, but molybdate was a better inhibitor over a wide concentration range of inhibitors. A kinetic study of cold rolling steel in uninhibited and inhibited acid was also discussed. Various parameters such as rate constant k and the kinetic parameter B were calculated for the reactions of corrosion. Polarization curves showed that both molybdate and tungstate are mixed-type inhibitors in acidic media.     

管线用钢氢致裂纹(HIC)影响因素分析

研究了管线用钢的化学成分和金相组织对钢的氢致裂纹(HIC)性能的影响。研究认为,带状组织和马氏体含量对HIC性能有很大影响,S含量及Cep对HIC有不同程度影响。含有少量Cu、Ni的钢更适合在酸性环境下使用。     

Experimental investigation of liquid water in flow field of proton exchange membrane fuel cell by combining X-ray with EIS technologies

The flow field is a pivotal part to manage the transport of water and gas in proton exchange membrane fuel cell. However, the reported water measurement methods (e.g., X-ray and electrochemical impedance spectroscopy (EIS)) cannot give a comprehensive understanding water distribution in the flow field, resulting in challenges in optimizing the channel design and enhancing fuel cell performance. Therefore, we propose a water measurement method combining the X-ray radiography with EIS to investigate the effect of different operating conditions on the growth law and distribution of liquid water in parallel and serpentine flow fields. The attenuation coefficient of liquid water to X-ray is calibrated with constant tube-current and tube-voltage of X-ray generator. Besides, the parallel flow field with hydrophobic treatment is studied. The results show that the water accumulation of the parallel flow field is far more than the serpentine flow field, and the water content of the middle region is higher than that of other regions in the parallel flow field. Furthermore, operating conditions (cathode inlet gas flow rate, inlet gas humidity, and back pressure) have little effect on the liquid water content of the middle region in the parallel flow field. The polarization curve, EIS result, and X-ray radiography show that the performance and water drainage capacity of the hydrophobic parallel flow field are better than the normal one.

     

地梢瓜八宝茶的研制与开发

八宝茶合八宝的功效于一体,富含营养,具有补血养气、消暑败火等功效.通过前期实验确定了八宝茶最佳配方.现主要研究八宝茶中地梢瓜、黑枸杞、黄芪3种主要成分的浸提工艺,并对八宝茶理化指标进行检测.以感官评定为主要评价手段,利用单因素实验和正交试验确定了八宝3种主要成分的浸提温度、浸提时间、料液比等工艺条件.结果表明:八宝茶的最佳浸提参数为浸提温度85℃,浸提时间6 min,料液比1∶30;理化指标检测结果表明,八宝茶水分、灰分含量合理,微生物指标符合国家标准的要求.此研究对八宝茶的工业化生产具有重要的参考价值.     

面向储能技术的跨学科拔尖创新人才培养教学实践与探索

储能技术能够解决清洁可再生能源利用过程中存在的能量密度低、间歇性、波动大等问题,是促进我国乃至全球能源结构调整的关键技术.随着储能行业的快速发展,储能技术高水平人才的需求呈现井喷式增长.储能技术涉及动力工程及工程热物理、电气工程、材料科学与工程、化学工程与技术等学科的知识,具有较强的学科交叉性,从而给储能领域人才培养带来了很大的难度.针对储能技术高水平人才培养难和人才严重匮乏问题,中国矿业大学开展了面向储能技术的跨学科拔尖创新人才培养探索与实践,通过增设储能技术专业课,拓展学生跨学科的理论基础;建立交叉学科团队指导模式,充分发挥创新导师团队的正面引导作用;利用高水平储能创新平台反哺教学,实现储能交叉学科产教研协同育人.以上探索与实践取得了良好的效果,对储能行业拔尖创新人才的培养具有借鉴意义.     

基于图像识别的10kV电缆接头施工缺陷算法应用研究

在研究10 kV电力电缆中间接头的典型缺陷类型时,通过分析施工过程,得出中间接头典型施工缺陷有主绝缘表面污渍、主绝缘划伤、外半导电层剥离不齐3类.根据污渍与主绝缘色差大,提出采用灰度色差作为判定缺陷的有效特征量;针对划伤缺陷区域与主绝缘灰度色差不明显的问题,通过提取纹理特征,达到有效区分主绝缘污渍与划伤缺陷的目的.对于主绝缘缺陷,采用基于神经网络的缺陷识别方法,能有效识别出主绝缘上的污渍与划伤两类缺陷.应用以上技术手段,实现了对整个电缆中间接头施工缺陷的判定,整体检测的有效性有较大的提高,证实了针对性算法的有效性.