基于平差优化技术的高精度三维标定方法

为提高工业机器人、自动化校准设备等智能系统的整体精度,基于罗德里格矩阵和最小二乘法拟合建立数学模型,解决了三维直角坐标系之间转换关系的工程应用问题。采用基于冗余测量数据的平面平差优化技术和定位坐标点的间接测量方法,提升了局部坐标系建立的精度。针对坐标点接触式测量和非接触式测量的技术缺陷,提出了采用激光跟踪仪测量终端,用标定工装辅助实现间接测量的方法,能通过多点的接触式间接测量保证被测定位坐标点的精度。最后经过多次试验验证了方法的可行性。     

四辊轧机轧辊弹性变形解析模块的开发

采用影响函数方法开发了四辊轧机轧辊弹性变形解析模块，完善了辊间压扁和工作辊压扁影响函数计算模型，克服了轧辊压扁影响函数计算过程浮点数被零除的缺陷，提出了平滑指数和收敛指标取值的处理方法，有效地解决了四辊轧机辊系弹性变形计算精度及收敛问题。该模块适应于普通四辊轧机、PC轧机和CVC轧机轧辊弹性变形计算，为热轧带钢板形控制提供了解析工具。     

Biofilm development during the start-up of a sulfate-reducing down-flow fluidized bed reactor at different COD/SO4(2-) ratios and HRT

In sulfate-reducing reactors, it has been reported that the sulfate removal efficiency increases when the COD/SO4(2-) ratio is increased. The start-up of a down-flow fluidized bed reactor constitutes an important step to establish a microbial community in the biofilm able to survive under the operational bioreactor conditions in order to achieve effective removal of both sulfate and organic matter. In this work the influence of COD/SO4(2-) ratio and HRT in the development of a biofilm during reactor start-up (35 days) was studied. The reactor was inoculated with 1.6 g VSS/L of granular sludge, ground low density polyethylene was used as support material; the feed consisted of mineral medium at pH 5.5 containing 1 g COD/L (acetate:lactate, 70:30) and sodium sulfate. Four experiments were conducted at HRT of 1 or 2 days and COD/SO4(2-) ratio of 0.67 or 2.5. The results obtained indicated that a COD/SO4(2-) ratio of 2.5 and HRT 2 days allowed high sulfate and COD removal (66.1 and 69.8%, respectively), whereas maximum amount of attached biomass (1.9 g SVI/L support) and highest sulfate reducing biofilm activity (10.1 g COD-H2S/g VSS-d) was achieved at HRT of 1 day and at COD/sulfate ratios of 0.67 and 2.5, respectively, which suggests that suspended biomass also played a key role in the performance of the reactors.     

Treatment of wastewater from a school in a decentralized filtration system by percolation over organic packing media

Based on results obtained in the laboratory a WWTP composed of a septic tank and an aerated percolating filter packed with organic media was built for a school. The system can treat 18 m3 d(-1) and was operated with a hydraulic loading rate of 0.078 (m3 m(-2) d(-1). For 360 days different operational conditions including start-up; stabilization; operation with aeration and non aeration; effect of rainy season, breaks from activities due to holidays and restart; were monitored and described in the article. Once stabilized, the system was able to remove, without the need for mechanical aeration, 97% of BOD5, 71% of COD, 93% of TKN, 11% of PO(4-)-P, 95% of TSS, 96% of VSS, in addition to having a removal efficiency of 4 log units of Faecal Coliforms (FC) and 100% helminthes eggs (HE). With this quality, the treated wastewater can be chlorinated and reused to irrigate green areas and/or in toilets. Although sanitary wastewater has a high concentration of Total-N (250 mg L(-1)) and a C/N ratio of less than 1, the system removed 65% of Total-N. Finally it was observed that after non activity periods, there was neither system failure nor the need to re-stabilize the system.     

Screening of organic contaminants in urban snow

Snowmelt is known to cause peak concentrations of pollutants, which may adversely affect receiving water quality. High concentrations of metals and suspended solids in snow have been reported, whereas studies on organic pollutants are rare. This study aims at investigating the occurrence of anthropogenic organic compounds in urban snow in Gothenburg (Sweden). The most frequently detected organic pollutants in the collected snow samples were polycyclic aromatic hydrocarbons (PAHs), high molecular-weight phthalates, 4-nonylphenol and 4-t-octylphenol. Brominated flame retardants and chlorinated paraffins were only sporadically detected. In several snow samples, the concentrations of specific PAHs, alkylphenols and phthalates were higher than reported stormwater concentrations and European water quality standards. Pollutant source identification and sustainable management of snow are important instruments for the mitigation of organic contaminants in the urban environment.     

Clonal variation in reproductive response to temperature by a potential bulking control agent, Lecane inermis (Rotifera)

The novel idea of using rotifers Lecane inermis (Rotifera, Monogononta) as a tool to overcome activated sludge bulking generates an on-going need to study rotifer biology. The results of biological research on rotifers can serve to improve the method so that it can be most effective when applied in treatment plants. The aim of this study was to test the effect of temperature on four selected rotifer clones originating from different treatment plants. The rate of population development from a single individual (parthenogenetic female) during a 10-day experiment was measured at three temperatures: 8, 15 and 20 degrees C. The temperatures used reflect the annual temperature distribution in the majority of municipal wastewater treatment plants in the temperate zone. The growth rate coefficient (r) and doubling time (tD) were calculated for each clone. Under the most favourable conditions (20 degrees C), rvalues varied between 0.41 and 0.47 d and doubling time between 1.5 and 1.7 d. At a temperature of 15 degrees C, the doubling time was approximately two times longer (2.5-3.4 d). The strongest intraspecific variations were observed at the lowest temperature of 8 degrees C. At this temperature, one of the clones almost failed to proliferate, and another exhibited a doubling time of 7.9 d. The doubling times were a few times greater for the remaining two clones (60 d for Lk1, 33.3 d for Lk4). These results could be very useful in predicting the chances that the rotifers would survive in a biological reactor in a wastewater treatment plant at the temperatures used in these reactors.     

基于图像归一化的DFT域数字水印嵌入算法

抗几何攻击的鲁棒图像水印算法研究是一项富有挑战性的工作.本文以图像归一化理论为基础,提出了一种可有效抵抗几何攻击的DFT域数字图像水印方案.该方案首先利用基于矩的图像归一化技术将原始载体映射到几何不变空间内,并结合不变质心理论提取出归一化图像的重要区域;然后对重要区域实施分块离散傅立叶变换(DFT);最后结合幅值谱信息自适应确定水印嵌入位置,并利用量化调制策略将数字水印嵌入到重要区域的相位和幅值内.仿真实验结果表明,该数字图像水印方案不仅具有良好的不可感知性,而且具有较强的抵抗常规信号处理及几何攻击的能力.     

基于三(8-羟基喹啉)铝的紫外增强薄膜研究

为了提高硅基成像器件的紫外响应,本文通过对Alq3发光机理与光致发光特性的研究,用真空蒸镀的方法制备出了基于Alq3的有机金属薄膜.通过测量Alq3薄膜的透过率、光致发光光谱和激发光谱,发现Alq3薄膜在可见波段有很好的透过性,用紫外光激发会产生较强的绿光(中心波长位于510 nm),且激发光谱宽(250～425 nm).结论表明Alq3薄膜的发射光谱能够与传统硅基成像器件的响应光谱匹配,是一种符合实际要求的紫外增强薄膜.     

最大频繁子图挖掘算法研究

随着图的广泛应用,图的规模不断扩大,因此提高频繁子图挖掘效率势在必行。本文针对频繁子图挖掘所产生的庞大的结果集,提出了一个最大频繁子图挖掘算法MFME,从而极大地减少了结果集的数量。MFME使用了映射的思想将图集中的边映射到边表中并在此表上进行子图挖掘,有效地提高了算法的效率。实验结果表明,MFME的效率较经典算法SPIN有明显提高。     

Stability margin of uncertain control systems

Achieving stability is the essential issue in the control system design. In this paper, four approaches that can be used to calculate the stability margin of the interval plant family are summarized and compared. The μ approach gives the bounds of the stability margin, and good estimation can be obtained with the numerical method. The eigenvalue approach yields accurate value, and the MATLAB＇s function robuststab sometimes provides wrong results. Since the eigenvalue approach is both accurate and computationally efficient, it is recommended for the calculation of the stability margin, while utilization of the function robuststab should be avoided due to the unreliable results it gives.