面向草莓抓取的气动四叶片软体抓手研制

农林业中果蔬的自动化采摘需求日趋强烈,末端抓手是实现无损采摘的关键。传统的末端抓手以刚性结构居多,现有的各种柔性抓手也存在抓取力不足、包覆性不佳等缺点。本文以草莓的无损采摘为研究对象,提出将草莓外部轮廓曲线作为设计曲线,设计了一种新型气动四叶片软体抓手。首先,对软体抓手的结构做仿真优化,提出一种安全地附着在目标物表面的设想。然后,在进行草莓表面的最小破坏应力试验的基础上,测试了软体抓手的末端力,验证了其实现无损抓取的可行性。再次,利用动态捕捉技术,研究了软体抓手叶面的弯曲变形规律。最后,选择使用弧线型气体通道的软体抓手进行了草莓抓取测试,结果证明了气动四叶片软体抓手可以实现草莓的无损抓取,抓取成功率达90%,破损率为2%,表明所研制的四叶片软体抓手用于草莓抓取时具有良好的稳定性和实用性,可用于草莓采摘的末端执行器。本研究也可为其他易损果蔬的采摘技术提供理论基础和技术支撑。     

用于疏浚工程泥浆密度测量的电阻层析成像技术

江河湖海疏浚工程对于拓展和保障航运安全、促进生态恢复、维护/改善远海岛礁环境具有不可或缺的作用.目前,在绞吸和耙吸疏浚船上,多采用射线密度计及电磁流量计对输泥密度、产量等进行在线计量,并作为实现疏浚系统自动控制的重要参量.由于射线密度计潜在的人员健康、公共安全和环保风险,在一些国家和地区已建立了放射源的有序退出机制.电阻层析成像使用安装于管壁的电极阵列获得管道内流体的电导率分布,进而推导出管道内的泥浆密度,具有无辐射、全场测量及实时可视化的优点.电阻层析成像测量系统经过特殊设计,可适应从内陆淡水到海水的巨大电导率变化.初步测试表明,电阻层析成像测量数据与射线密度计具有良好一致性,具备了作为在线泥浆密度测量的可行性.此外,ERT可提供实时的流动成像,对于提高对疏浚管道监测能力和降低堵管概率具有重要意义.     

紫色马铃薯酒发酵工艺优化及主发酵期花青素与色泽的动态变化

以紫色马铃薯为原料，在单因素的基础上，通过响应面法对紫色马铃薯酒的发酵工艺参数进行优化。最佳发酵工艺参数为:马铃薯与面粉比1:0.6、料水比1:1 (g/mL)、α-淀粉酶添加量8.5 U/g、酒曲添加量0.45%。此工艺在28 ℃下发酵14 d，得到的紫色马铃薯酒酒精度13.5%vol，花青素含量166.34 mg/mL，酒体澄清透明呈紫红色，酸甜适中，有独特酒香，综合感官评定得分90分。测定主发酵期花青素和色泽的动态变化，分析表明，紫色马铃薯酒在发酵过程中花青素呈现先上升后下降的趋势，色度呈现先下降后趋于平缓的趋势，色调则与之相反。聚合色度和褐变指数总体均呈现逐渐上升的趋势。试验结果为工业化生产紫色马铃薯酒提供理论依据。     

Fabrication of direct Z-scheme FeIn2S4/Bi2WO6 hierarchical heterostructures with enhanced photocatalytic activity for tetracycline hydrochloride photodagradation

A series of direct Z-scheme FeIn₂S₄/Bi₂WO₆ hierarchical heterostructures with intimate interface contacts were synthesized by in-situ growth route and characterized by systematical analyses. All as-prepared FeIn₂S₄/Bi₂WO₆ nanocomposites showed significantly enhanced photocatalytic activity towards photodegradation for the removal of tetracycline hydrochloride (TCH) in comparison with individual FeIn₂S₄ and Bi₂WO₆. Meanwhile, the highest photocatalytic degradation activity can be achieved by modulating adding amount of FeIn₂S₄ in FeIn₂S₄/Bi₂WO₆ nanocomposites and the optimized component ratio of FeIn₂S₄ to Bi₂WO₆ is determined to be 10 wt%. The enhanced photocatalytic activity could be ascribed to efficient separation between photogenerated holes and electrons based on the construction of direct Z-scheme system. The high photocatalytic stability of resultant 10 wt% FeIn₂S₄/Bi₂WO₆ nanocomposites was revealed through six successive recycling reactions. The main intermediate generated during TCH photodegradation was explored by HPLC-MS. Besides, the direct Z-scheme photocatalytic mechanism was confirmed by band position analysis, electron spin resonance (ESR) and active species capture experiment.     

含锡废液的安全处理技术研究

论述了两级沉淀法对含锡废液的处理技术,通过实验得到两级沉淀法处置含锡废液的最优条件,实现了含锡废液的安全有效快速处理.     

Combining molybdenum carbide with ceria overlayers to boost Mo/CeO2 catalyzed ammonia synthesis

The design of an efficient non-noble metal catalyst is of burgeoning interest for ammonia synthesis. Herein, we report a Mo₂C/CeO₂ catalyst that is superior in ammonia synthesis activity. In this catalyst, molybdenum carbide coexisted with the ceria overlayers which is from the ceria support as the strong metal–support interaction. There is a high proportion of low-valent Mo species, as well as high concentration of Ce³⁺ and surface oxygen species. The presence of Mo₂C and CeO₂ overlayers not only leads to enhancement of hydrogen and nitrogen adsorption, but also facilitates the desorption and exchange of adsorbed species with the gaseous reagents. Compared with the Mo/CeO₂ catalyst prepared without carbonization, the Mo₂C/CeO₂ catalyst is more than sevenfold higher in ammonia synthesis rate. This work not only presents an explicit example of designing Mo-based catalyst that is highly efficient for ammonia synthesis by tuning the adsorption and desorption properties of the reactant gases, but opens a perspective for other elements in ammonia synthesis.     

Improved Input and State Estimation for Linear Stochastic Systems with Direct Feedthrough

This paper is concerned with the problem of joint input and state estimation for linear stochastic systems with direct feedthrough. Based on the fact that each unknown input between any two time steps is always bounded, a novel improved algorithm is proposed. Compared with existing results, this algorithm can effectively enhance estimation accuracy. Moreover, the stability of the algorithm is also discussed. Finally, an illustrative example is given to demonstrate the effectiveness of the proposed approach.     

A miniature triaxial apparatus for investigating the micromechanics of granular soils with in situ X-ray micro-tomography scanning

The development of a miniature triaxial apparatus is presented. In conjunction with an X-ray micro-tomography (termed as X-ray μCT hereafter) facility and advanced image processing techniques, this apparatus can be used for in situ investigation of the micro-scale mechanical behavior of granular soils under shear. The apparatus allows for triaxial testing of a miniature dry sample with a size of \mathrm{8}\hspace{0.17em}\mathrm{mm}\times \mathrm{16}\hspace{0.17em}\mathrm{mm} (diameter \times height). In situ triaxial testing of a 0.4–0.8 mm Leighton Buzzard sand (LBS) under a constant confining pressure of 500 kPa is presented. The evolutions of local porosities (i.e., the porosities of regions associated with individual particles), particle kinematics (i.e., particle translation and particle rotation) of the sample during the shear are quantitatively studied using image processing and analysis techniques. Meanwhile, a novel method is presented to quantify the volumetric strain distribution of the sample based on the results of local porosities and particle tracking. It is found that the sample, with nearly homogenous initial local porosities, starts to exhibit obvious inhomogeneity of local porosities and localization of particle kinematics and volumetric strain around the peak of deviatoric stress. In the post-peak shear stage, large local porosities and volumetric dilation mainly occur in a localized band. The developed triaxial apparatus, in its combined use of X-ray μCT imaging techniques, is a powerful tool to investigate the micro-scale mechanical behavior of granular soils.