未知环境下机器人障碍物检测技术

未知环境下地面的不平坦性和机器人相对障碍物位姿的不确定性会造成障碍物特征提取困难,为了准确检测障碍物特征,采用3维相机获取机器人周围环境的灰度图像和距离信息。在此基础上,提出基于灰度信息和3维信息的"阈值法"进行障碍物区域的提取,并针对3维信息"阈值法"剔除的地面与障碍物过渡区域过多,以及机器人相对斜坡方位的不确定性引起的障碍物特征检测不准确,提出区域的恢复算法和表面法线坡度计算。实验结果表明,所提出的算法具有简单、有效、准确和鲁棒性强的优点。     

AAO工艺污水处理厂的污泥培养驯化与调试

为了高效培养AAO工艺菌种,实现城镇污水处理厂的快速投产,以广东省某污水处理厂为例,介绍了污泥培养驯化过程和经验.该污水处理厂设计规模为3×104 m3/d,采用AAO+磁混凝沉淀工艺.利用大粪和地脚粉作为碳源培养菌种,实现了短时间、低成本、高效率的培养,培养驯化周期为30 d,吨水成本为0.171元,调试期间二沉池出水满足一级A标准.研究分析了污泥培养驯化中易发生的污泥絮体变小现象,提出了减少曝气量、增加外回流量、降低二沉池负荷等解决措施,为同类污水处理厂调试和试运行提供参考.     

Synthesis and xylene isomers adsorption of silicalite-1 crystals with intracrystalline mesopores aided by 3-glycidoxypropyl-trimethoxysilane and polyethene glycol

Journal of Porous Materials - Well-defined silicalite-1 crystals with intracrystalline mesopores were successfully synthesized in the presence of 3-glycidoxypropyl-trimethoxysilane (GPTMS) and...     

一种基于VINS/FINS组合导航方法

针对视觉惯性组合导航系统中微惯性器件精度偏低,以及足部惯性导航系统航向角误差可观测性差的问题,研究了一种基于上述两种系统的信息双向融合的导航定位方案. 该方法的系统结构由安装于双足步行机器人躯干部分的惯性导航系统和安装于其足部惯性导航系统两部分组成. 惯性导航系统通过视觉同时定位与地图构建数据融合方法可以获得相对准确的航向角,足部惯性导航系统利用零速修正后的位置信息实时修正惯性导航系统中的低精度惯性器件误差,从而构建视觉与惯性信息双向融合的组合导航系统结构. 实验结果表明,该组合导航方案可以有效提高双足步行机器人的航向精度和定位精度.     

Crystallographic structure- and texture-dependent fracture behavior of polycrystalline lead zirconate titanate ceramics

Journal of Electroceramics - The effect of crystallographic structure and texture on the fracture behavior of lead zirconate titanate (PZT) ceramics was investigated. PZT ceramics with Zr/Ti ratio...     

圆柱体平板镦粗应力场的有限元分析

应用刚粘塑性有限元法对圆柱体在两平板间镦粗时的应力场进行了分析 ,给出了毛坯在不同初始高径比时的心部应力随压下量的变化曲线。由此得出 :在变形过程中 ,圆柱体心部存在两向拉应力 ;并且在墩粗过程中 ,当瞬时高径比约为 1 .0时 ,心部σθ、σr 由拉应力转变为压应力。     

10 kV绝缘横担的轻量化设计及应用研究

为充分发挥绝缘横担轻质高强的特点,提高绝缘横担的使用寿命,满足腐蚀严重区域的使用需求,引进高强铝合金材料对10 kV绝缘横担进行轻量化设计及应用研究.从横担芯体、中间固定金具及配套附件三个方面对绝缘横担进行了轻量化的结构设计,采用有限元软件进行了详细的计算分析,为试制提供技术支撑.采用高强铝合金材料对方棒和T形绝缘横担的中间固定金具和配套抱箍进行了试制,并进行了抗弯、抗拉和抗扭测试,结果均满足要求.为了验证铝合金材料金具在绝缘横担中使用的稳定性,对方棒绝缘横担进行了热机循环试验,然后对两端金具进行抗拉试验,结果表现良好.经统计,高强铝合金材料在10 kV绝缘横担中的应用,大幅降低了整体质量(减轻近40％),可大大减少安装运输成本.     

Cardiac Oxidative Signaling and Physiological Hypertrophy in the Na/K-ATPase α1s/sα2s/s Mouse Model of High Affinity for Cardiotonic Steroids

The Na/K-ATPase is the specific receptor for cardiotonic steroids (CTS) such as ouabain and digoxin. At pharmacological concentrations used in the treatment of cardiac conditions, CTS inhibit the ion-pumping function of Na/K-ATPase. At much lower concentrations, in the range of those reported for endogenous CTS in the blood, they stimulate hypertrophic growth of cultured cardiac myocytes through initiation of a Na/K-ATPase-mediated and reactive oxygen species (ROS)-dependent signaling. To examine a possible effect of endogenous concentrations of CTS on cardiac structure and function in vivo, we compared mice expressing the naturally resistant Na/K-ATPase α1 and age-matched mice genetically engineered to express a mutated Na/K-ATPase α1 with high affinity for CTS. In this model, total cardiac Na/K-ATPase activity, α1, α2, and β1 protein content remained unchanged, and the cardiac Na/K-ATPase dose–response curve to ouabain shifted to the left as expected. In males aged 3–6 months, increased α1 sensitivity to CTS resulted in a significant increase in cardiac carbonylated protein content, suggesting that ROS production was elevated. A moderate but significant increase of about 15% of the heart-weight-to-tibia-length ratio accompanied by an increase in the myocyte cross-sectional area was detected. Echocardiographic analyses did not reveal any change in cardiac function, and there was no fibrosis or re-expression of the fetal gene program. RNA sequencing analysis indicated that pathways related to energy metabolism were upregulated, while those related to extracellular matrix organization were downregulated. Consistent with a functional role of the latter, an angiotensin-II challenge that triggered fibrosis in the α1^r/rα2^s/s mouse failed to do so in the α1^s/sα2^s/s. Taken together, these results are indicative of a link between circulating CTS, Na/K-ATPase α1, ROS, and physiological cardiac hypertrophy in mice under baseline laboratory conditions.     

PPV Nanotube Sensor Arrays for Explosives Identification by Excitation Wavelength Regulation

The development of sensitive materials for standard and improvised explosives is greatly significant to homeland security. In this paper, the phosphotungstate (NaPT) doped polyphenylene vinylene (PPV) nanotube arrays (NTAs), with excellent optical response, chemical stability, and larger specific surface area, are successfully fabricated by means of the “precursor film” infiltration method. The efficient charge carriers' separation of PPV NTAs can be achieved by doping NaPT to realize the photoelectric detection of explosive vapors. In addition, the identification of six explosives, including ammonium nitrate (AN), dinitrotoluence (DNT), picric acid (PA), p-nitrotoluene (PNT), triacetone triperoxide (TATP), and trinitrotoluene (TNT), can also be realized through the fingerprint atlas. Moreover, the adsorption energy and excited oscillator intensity has also been employed to explain the interaction between NaPT doped PPV nanotube arrays and various explosive molecules. Obviously, the NaPT doped PPV developed has the potential to be used as an explosive sensor.     

Influences of mullite fibers on mechanical and thermal properties of silica-based ceramic cores

Mullite fibers composite silica-based ceramic cores were successfully prepared by injection molding. The effects of mullite fibers on the mechanical and thermal properties of ceramic cores were investigated. The results indicated that the linear shrinkage was significantly decreased and the porosity was gradually increased with the increase of mullite fibers. In addition, the flexural strength for the room temperature and the simulated casting temperature of 1500°C was increased to a maximum value when the content of mullite fibers was about 1 wt.%, and then decreased with the increase of mullite fibers. The mullite fibers of 1 wt.% presented excellent mechanical properties with a linear shrinkage of .65%, a porosity of 6.96%, and a flexural strength of 17 MPa at room temperature and 34.83 MPa at the simulated casting temperature of 1500°C. Besides, the change in microstructure and properties in various contents of mullite fibers were analyzed.