Accurate estimation of environment parameters from ultrasonic data

This paper describes a robust and accurate ultrasonic sensing system for a mobile robot. The system continuously updates a local map of the environment in which obstacles are represented by straight lines or points in a robot centered coordinate frame. The presented algorithms use a Kalman filter for the reduction of the noise in the ultrasonic data and use a systematical error correction (‘bundle correction’) to reduce the uncertainty in obstacle direction. Experiments are carried out in simulation and with a real mobile robot system. Results show that the accuracy with which line parameters can be estimated is in the order of 1 degree for the orientation and about 2 cm for the position. The effect of the bundle correction is significant and maximal when the robot approaches walls under a small angle.     

TiO_2载体表面酸性的研究

利用NH_3吸附和吡啶吸附红外技术研究TiO_2的制备条件对其表面酸性的影响。结果表明,用NH_3水中和TiCl_4溶液方法制备的TiO_2(A)表面有较强的L酸中心,中和条件对表面酸性中心数目和强度有显著影响。由TiOSO_4水解方法制备的TiO_2(B)表面具有较强的L酸中心和较弱的B酸中心,引入不同添加剂可有效地调变TiO_2载体表面的酸性。     

含淀粉聚乙烯膜的时控光降解研究

使用复合光降解剂，得到了可光降解的生物降解膜。对膜的光降解进行了考察，并对影响光降解的因素进行了讨论，结果表明，我们所制得的膜是一种较好的时控光降解膜。     

Hierarchical intelligent control with flexible AC transmission systems application

A novel hierarchical intelligent controller configuration is proposed using an artificial neural network as a control-mode classifier in the supervisory level and a set of pre-designed controllers in the lower level. Controller outputs are modified nonlinearly by the classifying signals in a structure resembling one artificial neuron with adaptively changed weights. The lower-level local controllers are implemented using neural networks. An illustrative example of this approach is based on the transient stabilization of a single-machine infinite-bus system studied in Flexible AC Transmission Systems (FACTS) research.     

二(二甲苯基)丙烷合成工艺的研究

二氯丙烷(DCP)与二甲苯在混合金属氯化物催化剂(HD90)作用下合成二(二甲苯基)丙烷,生产过程简单,产品收率高。在60—80℃的温度下,二甲苯与二氯丙烷摩尔比为6∶1,HD用量50克/摩尔DCP的条件下反应5—6小时,二(二甲苯基)丙烷的收率可达88％以上。     

Fracture of Aramid Fiber/Epoxy Resin Micro Composites

Kevlar-49 fiber was modified through cold air plasma treatment and plasma grafting with acrylic monomers. Fracture of aramid fiber/epoxy resin micro composites has been studied by means of single fiber pull-out test. Tow types of pull-out curves are correlated with the different failure modes. A polyacrylic acid-co-ethyl acrylate graft layer can improve the adhesion and protect the fiber from damage caused by interfacial stresses.     

各种状态的液体通过核孔膜的规律

介绍了液体通过核孔膜规律方面取得的新认识，包括：（１）纯净液体通过核孔膜的规律；（２）核孔膜测定液体粘滞系数的各种方法；（３）各种物质溶液浓度的核孔膜测定；（４）液相混合物快速分离和化学分离；（５）流体中固体微粒对核孔膜的堵塞及其公式；（６）用核孔膜滤除液中各各斩规律。     

Nitrogen addition to iron powder by mechanical alloying

Nitrogen was alloyed into iron (a) by mechanical processing in a nitrogen gas environment, and (b) by mechanically alloying with iron-nitride powders to characterize resulting nano-structure and nitrogen distribution. Although the infused nitrogen concentration was significantly greater than the thermodynamic equilibrium solubility of iron, no nitrides formed, even for nitrogen concentrations as high as 4.1 wt.% However, a bctFe phase did form. Lattice expansion calculations indicate that the sum of the interstitial bcc-Fe and bctFe nitrogen concentrations was significantly less than the total measured nitrogen concentration. A considerable portion of the mechanically infused nitrogen was determined to be associated with nanograin boundaries.     

In-situ TEM Observation of Dislocation Emission, Multiplication and Motion Induced by Anodic Dissolution in Type 310 Stainless Steel

A special constant deflection device for TEM has been designed and then the dislocation configuration change ahead of a loaded crack tip after corrosion or anodic dissolution for some time but before the initiation of SCC can be observed in TEM. The results showed that anodic dissolution during SCC of a type 310 stainless steel in deionized water could promote dislocation emission,multiplication and motion before the initiation of SCC.     

Unrestricted Hartree-Fock approximation of the extended emery model

We use an unrestricted self-consistent Hartree-Fock approach to calculate the nature of doping states in the three-band Hubbard model. It turns out that for physically relevant parameter values one hole is localized within a small spin-polarized region where five Cu spins are aligned in the same direction. The spin polarization and binding energy between these spinpolaronic states are investigated as a function of different parameters including a Holstein-type electron-phonon coupling on the Cu sites. At higher doping concentration we observe the occurrence of afmon states where the holes are localized in a ring-shaped area. Inside this ring the antiferromagnetic order parameter has inverse sign with respect to the residual antifer-romagnetically ordered plane.