无先验地图条件下电力管廊无人机自主巡检方法研究

针对无先验地图条件下电力管廊无人机自主巡检能力不足的问题,本文提出了一种不依赖先验地图的无人机巡检方法。首先,无人机搭载激光雷达,通过SLAM（Simultaneous Localization and Mapping）算法进行实时场景构图,并基于RRT（Rapidly-exploring Random Tree）算法对构建的全局栅格地图进行边界搜索;其次,针对传统RRT算法难以判断环境地图完整性、保障巡检全面性的问题,提出了一种基于数字图像处理的边界检测方法。通过Canny算子对实时构建的地图进行边缘检测,并对地图进行完整性评估。最后,为验证本文提出方法的有效性,在江苏无锡处某220kV电力管廊的仿真模型中进行验证,分别采用RRT算法和本文改进算法进行自主巡检测试,结果表明本文提出的算法相比RRT算法可提升21.8%的巡检覆盖率。     

An EXAFS study on oxidic and sulfided K-MoO3/γ-Al2O3 catalysts

By analyzing the extended X-ray absorption fine structure (EXAFS) of the Mo K-absorption edge, structural information for both oxidic and sulfided K-MoO₃/-Al₂O₃ catalysts with different potassium content was obtained. The oxidic samples show two backscatterer peaks in the radial distribution function (RDF), which correspond to the Mo-O coordinations in the nearest Mo-O shell. The nearest oxygen atoms are present with large configurational disorder. The RDF for the K/Mo = 0 sample is significantly different from that for crystalline MoO₃ and ammonium heptamolybdate. The RDFs for potassium promoted samples are, in some extent, similar to that for ammonium heptamolybdate. The sample with K/Mo = 0.8 and that with K/Mo=1.5 do not show obvious difference in their local Mo-O structures. The EXAFS results support the earlier conclusions from Raman spectroscopy studies on identical samples [7]. When the samples are sulfided, a rearrangement of the local neighbors around Mo atoms takes place, to form small MoS₂-like crystallites. The Mo-S and Mo-Mo coordination distances on these catalysts are the same as those in crystalline MoS₂, but the coordination numbers are significantly lower than in MoS₂. The EXAFS results indicate that Mo species on the K/Mo=0 catalyst mainly consist of Mo-S-Mo units (the basic building units of MoS₂), which are highly dispersed and show a higher level of disorder than in MoS₂. With the modification by the potassium promoter, Mo species are significantly aggregated and their local neighbors are more similar to those in MoS₂, but the Mo species still exist in a state of high dispersion.     

Detecting video frame-rate up-conversion based on periodic properties of inter-frame similarity

Video frame-rate up-conversion is one of the common operations for tampering digital videos in the temporal domain, such as creating fake high-quality videos and splicing two video clips with different frame rates. However, few existing works have been proposed for detecting this form of tampering operation. Based on the analysis of extensive experiments, we found that frame-rate up-conversion algorithms employed in most current video editing softwares will inevitably introduce some periodic artifacts into inter-frame similarity in the resulting video frame sequence. By analyzing such artifacts, we propose a simple yet very effective method to expose video after frame-rate up-conversion, and further estimate its original frame rate. The experimental results evaluated on 100 original videos at different frame rates have shown the effectiveness of the proposed method. The average detection accuracy can achieve as high as 99 % on noise-free videos in uncompressed and H.264/AVC formats. Besides, the proposed method is robust to noise as the detection accuracy could reach over 85 % and 95 % on noised videos with Gaussian white noise when SNR is 33 db and 36 db respectively.     

氯化聚乙烯接枝马来酸酐胶粘剂的研究

本文介绍了改性聚丙烯（PP）基泡沫材料用的水溶性胶粘剂的研制。该胶粘剂不影响泡沫材料的阻燃性能和吸声性能，并有较好的热稳定性和储存性以及优化的耐水性。     

球磨效率探讨

主要讨论了球石的装载量、球石空隙率、球石级配、泥浆密度等因素对球磨效率的影响。运用正交试验优选了各因素。     

用聚硅酸硫酸铝混凝处理印染废水的研究

该文利用正交法设计实验，以聚合硅酸硫酸铝为混凝剂对印染废水进行了混凝处理研究。研究结果表明，聚合硅酸铝处理印染废水效果较好，其最佳组合方式为：温度40℃，pH值为6，聚合硅酸硫酸铝的投加量为860mg/L，搅拌时间控制为15min。在最优化条件下，COD的除去率为75．0％，获得了较好的效果。     

Nonisothermal crystallization kinetics of poly(butylene terephthalate)/montmorillonite nanocomposites

The melt intercalation method was employed to prepare poly(butylene terephthalate) (PBT)/montmorillonite (MMT) nanocomposites, and the microstructures were characterized with X‐ray diffraction and transmission electron microscopy. Then, the nonisothermal crystallization behavior of the nanocomposites was studied with differential scanning calorimetry (DSC). The DSC results showed that the exothermic peaks for the nanocomposites distinctly shifted to lower temperatures at various cooling rates in comparison with that for pure PBT, and with increasing MMT content, the peak crystallization temperature of the PBT/MMT hybrids declined gradually. The nonisothermal crystallization kinetics were analyzed by the Avrami, Jeziorny, Ozawa, and Mo methods on the basis of the DSC data. The results revealed that very small amounts of clay (1 wt %) could accelerate the crystallization process, whereas higher clay loadings reduced the rate of crystallization. In addition, the activation energy for the transport of the macromolecular segments to the growing surface was determined by the Kissinger method. The results clearly indicated that the hybrids with small amounts of clay presented lower activation energy than PBT, whereas those with higher clay loadings showed higher activation energy. The MMT content and the crystallization conditions as well as the nature of the matrix itself affected the crystallization behavior of the hybrids. © 2006 Wiley Periodicals, Inc. J Appl Polym Sci 99: 3257–3265, 2006     

基于AR规则的全路径测试数据自动生成方法

基于全路径的研究现正处于起步阶段,提出了一种全新的NRPS算法（不重复路径搜索算法）和AR规则来对程序的源文件进行静态分析,生成有向无负权图,进而得到不重复路径集;并结合粒子群优化算法最终生成最优测试用例。实验表明,该方法具有可行性。     

一种改进的电子现金方案

TPM具有隐私保护能力和存储保护能力。使用盲签名可以实现被签名信息的匿名性,群签名可以实现签名者的匿名性。两者相结合可以实现双方的匿名性,从而实现交互的安全性。采用椭圆曲线算法ECC加密,可以提高系统运行效率。提出了一种基于TPM和群盲签名的电子现金方案,其主要目的是在保证系统安全性的前提下,提高系统的运行效率。并对方案进行了性能分析。     

A comparative study of tribological properties between perfluoro and non-perfluoro alkylsilane self-assembled monolayers(SAMs)

The tribological properties of perfluoro and non-perfluoro alkylsilane molecular films were investigated and compared detailedly. Their surface properties were characterized by X-ray photoelectron spectroscopy (XPS), atomic force microscopy (AFM) and contact angle (CA) measurement. A ball-on-disk tribometer was used to study the frictional properties of these alkylsilane monolayers. The experimental results reveal that the alkylsilane molecular films are good candidates to decrease friction and they have good capability to endure rigorous shear forces. Perfluoro alkylsilane molecular films are bonded better with the Si substrate than the simple hydrocarbon ones. The effects of sliding velocity and normal load on friction coefficient are evident and the friction coefficient increases with the increase of the sliding velocity. However, friction coefficient decreases with the increase of normal load initially and then increases, indicating there exists a critical normal load for the load effect. Funded by the National Natural Science Foundation of China (No.50730007 and 50805086), the Foundation of Tsighua Basic Research, and the National Key Basic Research Program of China(No. 2007CB607604)