DLR/HIT多指机器人灵巧手的研究

基于机电一体化设计理念和集成化、模块化设计方法研制了DLR/HIT灵巧手,DLR/HIT灵巧手具有4个相同结构的模块化手指,共具有13个自由度,具有拟人手形的外观.采用商品化的直流无刷电机实现了手指的驱动;手指具有位置、力/力矩及温度等多种感知能力;基于DSP/FPGA等实现了手指的通讯和实时控制;高度集成,将所有部件均集成在手指和手掌内.DLR/HIT手具有很好的可靠性、可操作性和精细操作能力.     

分层码率控制策略在机器人遥操作中的应用

为实现卫星自维护遥操作系统中稳定可靠的视频反馈目标,提出一种基于分层码率控制的视频传输策略.利用实时探测到的带宽选择不同码率的视频流分层,使得视频传输对于不同的网络带宽具有自适应性.试验结果表明,该策略能够在波动带宽下给予遥操作者稳定流畅的视频反馈,有效地提高了遥操作系统的视觉临场感性能.     

新型细胞固定化载体强化白腐菌降解活性染料

为提高白腐真菌的产酶能力和后续对染料的降解效果,采用摇瓶试验研究新型细胞固定化载体——聚氨酯泡沫固定化白腐真菌后的锰过氧化物酶(MnP)产生情况以及后续对活性染料——活性艳红K-2BP的降解效果.结果显示,新型载体固定化培养白腐真菌的5d脱色率为95%,比悬浮培养7d的脱色率高15%.固定化培养产生的MnP酶活为936.61U/L,而悬浮培养的MnP仅为269.52U/L,并且酶活高峰期提前4d.另外,固定化培养体系中碳、氮源的消耗比悬浮培养快很多,而且固定化培养使得白腐真菌具有较高的H2O2产量.因此,新型细胞固定化载体强化白腐真菌降解活性染料的原因应归于这种培养体系碳、氮源的快速消耗而带来的MnP酶活的提高和高H2O2产量.     

三种WPS对不同区块油水动态界面张力研究

采用全量程界面张力测量仪,研究了3种WPS对胜利油田3个采油区块油水体系的油水动态界面张力,从油水界面张力达到最低值所需的时间、稳定值的大小和时间窗口宽度的几个方面,考察了3种WPS对3个采油区块油水动态界面张力的变化情况,为不同采油区块选用WPS提供了依据.并研究了注入水离子强度与界面张力的关系,通过对注入水离子强度的调整,改善其油水界面张力.     

可重构计算在提高数据采集系统容错中的应用

可重构计算技术在数据采集系统中的应用越来越广泛,这不仅得益于可重构计算技术能够更快的对数据进行处理、降低系统能耗,还得益于其可以提高系统的可靠性。该文介绍了如何利用可重构计算技术,提高数据采集系统的容错能力,使数据采集系统在出现硬件故障时能保持正常工作的能力。     

煤气化过程中单颗粒吸收剂脱硫反应模型概述

对煤气化过程中吸收剂脱硫反应的气固反应模型进行了概述.气固反应模型大致可分为未反应缩核模型,晶粒模型、孔模型及逾渗模型等几种基本型式.未反应缩核模型结构比较简单,可以作为其它模型的基础和组成部分,晶粒模型应用较为广泛且已经得到了充分的发展和改进,孔模型侧重于颗粒内部孔隙特性对反应影响的分析,逾渗模型则基于孔模型将逾渗理论引入来描述脱硫反应过程.     

Corrosion behavior and mechanism of the automotive hot-dip galvanized steel with alkaline mud adhesion

The corrosion behavior and mechanism of hot-dip galvanized steel and interstitial-free (IF) substrate with alkaline mud adhesion were investigated by scanning electron microscopy (SEM), X-ray diffraction (XRD), electrochemical impedance spectroscopy (EIS), and linear polarization. The results show that non-uniform corrosion occurs on the galvanized steel and IF substrate during 250 h with the mud adhesion. The corrosion products on the galvanized steel are very loose and porous, which are mainly ZnO, Zn5(OH...     

Numerical simulation on the rheo-diecasting of the semi-solid A356 aluminum alloy

The effect of injection pressure, piston velocity, and the forming temperature of semisolid slurry on the filling behavior of the semi-solid A356 aluminum alloy was investigated by simulation methods. The simulation results show that these processing parameters have an important effect on the filling behavior of the semi-solid A356 aluminum alloy. The slurry flows steadily in the cavity when the injection pressure, the piston velocity, and the forming temperature are low, but it is prone to turbulent flow w...     

Carburization of ferrochromium metals in chromium ore fines containing coal during voluminal reduction by microwave heating

Chromium ore fines containing coal (COFCC) can be rapidly heated by microwave to conduct the voluminal reduction, which lays a foundation of getting sponge ferrochromium powders with a lower content of C. Under the conditions of COFCC with n(O):n(C) (molar ratio) as 1.00:0.84 and n(SiO₂):n(CaO) as 1.00:0.39, the samples were heated by 10 kW microwave power to reach the given temperatures and held for different times respectively. The results show that the low-C-Cr ferrochromium metal phase in the reduced materials forms before the high-C-Cr ferrochromium metal phase does. With increasing temperature the C content of ferrochromium metals is in a positive correlation with the content of Cr. The C content of ferrochromium metal in reduced materials is 0–10.07% with an average value of 4.68%. With the increase of holding time the Cr content in ferrochromium metals is in a negative correlation with the content of C, while the content of Fe changes in the contrary way. In the microwave field the kinetic conditions of carburization are closely related with the temperature of microwave heating, holding time and carbon fitting ratio. Foundation item: Project(50474083) supported by the National Natural Science Foundation of China; Project supported by the Baoshan Iron & Steel Co. Ltd. of China     

火电机组过热汽温神经网络控制的研究

研究了单神经元PID控制器和BP神经网络PID控制器在火电机组过热汽温的应用．实验结果表明,神经网络PID控制结构简单,有较强的鲁棒性,取得了较好的控制效果．