The visual fiducial based pose estimation of mobile manipulator in large-scale components manufacturing

The accurate estimation of the end-effector’s pose in large operating spaces is the key for the mobile manipulator to realize efficient manufacturing of large and complex components. We propose a novel pose tracking method in large-range using visual fiducial markers, and further propose the layout optimization method for the encoded fiducial markers. A metric named orientational dilution of precision (ODOP) is proposed to evaluate the magnification of the pose estimation error compared with the measurement error of the coded fiducial markers. The distribution pattern of the coded markers is analyzed based on ODOP, and the square-shaped layout is determined to be a satisfactory distribution pattern for the minimum positioning unit of markers, and the side length of the square-shaped layout is further selected. The simulations and experiments prove the effectiveness of the ODOP index. Finally, the square-shaped layout and the designed distribution density for positioning coded markers are adopted to realize the high-precision measurement of large components by the mobile manipulator.

     

玻璃纤维分束器工艺技术改进研究与应用

为了降低玻璃纤维生产成本,提升分束纱产品质量,增加市场竞争优势,根据分束纱生产工艺线特点,从分束器设计开发及工艺技术调整应用方面进行攻关,研制开发出了特殊的拉丝分束装置,解决了拉丝过程中玻璃纤维在分束器处飞丝和浸润剂浪费的问题.     

Excellent Polyimide Dielectrics Containing Conjugated ACAT for High-Temperature Polymer Film Capacitor

In order to meet the requirements of polymer dielectric materials for high thermal stability and excellent dielectric properties in the application of high-temperature film capacitors, a series of polyimide (PI) films are fabricated by introducing a self-synthesized aniline trimer (ACAT) with a conjugated structure in this work. Since the conjugated ACAT in the main chains of PI improves the electron polarization and carrier mobility of the PI molecular chains, the dielectric constant of the ACAT-PI films is greatly enhanced (4.4–7.4). Meanwhile, the dissipation factor does not increase apparently (0.002–0.013). The dielectric properties are stable even when the temperature is up to 200 °C, the thermal degradation temperature is as high as 450 °C, and the mechanical properties are also excellent (70–105 MPa). Among all the films, the PI film with 5 mol% ACAT exhibits the maximal energy density of 3.6 J cm⁻³ under the field of 426 kV mm⁻¹, the high tensile strength (90 MPa) and the excellent thermal stability (T_d5 = 515 °C). The work paves the way to prepare high-temperature polymer dielectric film materials with high energy storage density.     

氟硅酸钾滴定法测定粗制氟化钠中二氧化硅

采用硝酸-氢氟酸混合酸为消解溶剂,通过微波消解技术对粗制氟化钠进行快速消解,并用氟硅酸钾滴定法测定其二氧化硅含量。选择饱和氯化钾溶液替代固体氯化钾作为沉淀剂,考察了消解酸体系、饱和氯化钾溶液用量、沉淀温度、沉淀放置时间、共存元素干扰及指示剂选择等条件对测定结果的影响并进行优化。确定了最优测试条件：以8 mL硝酸+2 mL氢氟酸为消解溶剂,以8 mL饱和氯化钾溶液为沉淀剂,控制沉淀温度为20~25 ℃、沉淀放置时间为15 min,选择50 g/L氯化钾-50%乙醇溶液洗涤沉淀,采用溴麝香草酚蓝-酚红指示剂。该方法应用于回收粗制氟化钠中二氧化硅含量的测定可大幅度缩短分解试样的时间,有效降低检测成本,回收率为99.15%~100.63%,相对标准偏差（RSD,n=8）小于1%,与传统高温碱熔法测定结果相符,方法的准确度和精密度较好。     

铝合金牺牲阳极电流效率损耗的微观分析

探针（EPMA）和能谱分析技术(EDAX)，考察了铝合金牺牲阳极的显微结构和腐蚀后的边缘形貌，讨论了电流效率和显微组织之间的关系.结果表明：晶界腐蚀引起的晶粒脱落是铝合金牺牲阳极电流效率损耗的重要原因.      

Model of intense pulsed ion beam and simulation study of energy deposited on target

Gaussian type models have been established according to the real detected voltage of magnetically insulated ion diode and intense pulsed ion beam density near the focus of the diode. The energy deposition of Al target irradiated by intense pulsed ion beam has been simulated by Monte Carlo method based on these models. The results of energy depositions of the irradiation of single energy ions and the Gaussian distribution IPIB have been obtained. Especially cases of ion beam irradiating Al target at different angles on one dimension and two dimensions are discussed. The evolution processes of the energy deposition of ions in target have been simulated during a pulse. In addition, incident angles of H⁺ ions and C⁺ ions ranging from 20 to 40° have been researched. We obtained the conclusions that C⁺ ions of the beam affect the physical properties of near surface region, but H⁺ ions affect the deeper layer. The energy of intense pulsed ion beam mainly deposits on target surface, so melting and evaporation begin both from target surface.     

8-羟基喹啉-N-氧化物和5,7-二硝基-8-羟基喹啉-N-氧化物与Au(Ⅲ)、Pd(Ⅱ)的配合物之合成

合成4种标题配合物,用元素分析、红外和紫外光谱、摩尔电导、核磁共振氢谱、荧光光谱及X射线粉末衍射物相分析研究了它们的组成和性质及其结构。按结构将配合物分为两类,一是含氢键的离子缔合物;一是含金属—氧键的螯环型配合物。     

水下隧道穿越管道保护效果测试评价

本文通过对四川气田北干线涪江隧道穿越管道阴极保护电参数的现场测试，取得了实际可信的基础数据，验证了处于水下隧道洞内的穿越段管道，能得到陆上强制电流阴极保护系统的有效保护，保护电流所必经的岩石层和锚喷钢筋混凝土层对保护电流没有构成屏蔽的结论，对管道工程设计和运行管理具有指导作用。     

聚铝溶液pH值及盐基度的相关性研究

为聚铝溶液进行了ＰＨ值和盐基度的分析和估算,给出了聚铝溶液的极限ＰＨ值和极限盐基度与总溶解铝浓度的关系曲线,最终计算结果表明：在平衡条件下,聚铝溶液的ＰＨ值和盐基度具有相关性,即当基中一个参数发生变化时。另一个参数必然要发生相应的改变。     

双通道喷嘴渣油气化过程(Ⅰ)冷模实验

基于对3套8.53MPa双通道喷嘴渣油气化装置普遍存在的工程现象的思考,组织了模型气化炉冷态试验。测试了3种模型在6种射流速度下的停留时间分布,7种模型在2种射流速度下的速度分布。给出了停留时间分布密度函数、无因次半速度半径轴向增长、径向射流最大速度轴向衰减和径向速度分布计算公式。