Exploration of unknown object by active touch of robot hand

This paper proposes a method of exploring the local shape of an unknown object using the force and torque information obtained from active touch. In the first, we present a method to estimate an unknown curvature, using rolling and sliding motion with a force/torque sensor attached to the fingertip of the hand. Then, the normal curvature equation from 2D curvatures is obtained. Finally we present a reconstruction algorithm of local geometry by using a normal curvature equation, which is composed of principal curvatures and principal directions. The method is tested by using a hand-arm system consisting of an industrial robot arm and an anthropomorphic robot hand with 6-axis force/torque sensor. The feasibility of the proposed method is experimentally validated for objects with simple geometries such as cylinder, spheres etc.     

双组分海岛型超细纤维及其染整工艺研究

采用正交设计对海岛纤维进行了碱减量开纤处理，减量率为25%-35%。在优化条件下：NaOH:15g/L～20g/L;碱减量调节剂：0.1g/L～0.5g/L;耐碱渗透剂；1g/L～5g/L;80℃～85℃；25～30分钟，将海组分COPET除去，获得了0.039dt的超细纤维。此纤维染色时K/S值较高，提升同步性好，三原色临界温度为90℃～120℃，120℃时上染率达到90%、扩散性和迁移性好，获得各项牢度较好的匀染效果。对影响海岛纤维的织物风格、纤维开纤和染色的有关因素进行了讨论。     

倾斜下降管内油气水三相流流型转变的实验研究

对倾斜下降管倾角变化对油气水三相流流型转变的影响进行了研究 ,通过大量实验得到流型图 ,发现倾角对流型转变有重大影响 :倾角增大到 3 0°时 ,增大气流量 ,泡状流已不再转变为间歇流 ,而是分层流 ;倾角变化对环状流和间歇流之间的转变影响显著。得到的界限方程规律与实验现象及流型图符合良好     

基于有限状态机的RFID流数据过滤与清理技术

为了实现从大量不可靠、冗余的RFID（radio frequency identification）流数据中提取有效信息,提高RFID系统中数据的质量,提出了一种基于有限状态机的RFID 流数据过滤与清理方法.实验结果表明：该方法能够有效过滤系统外标签数据,清理系统内部冗余标签数据,筛选有效标签数据,并能够降低漏读、误读带来的风险.最后,利用地理信息系统的可视化技术,将过滤与清理结果展示在地图上.     

基于复化梯形公式的GM(1,1) 模型背景值的优化

背景值是影响灰色理论建模精度的重要因素之一。根据灰色系统理论建模机理以及数据累加生成具有非齐次灰指数规律,构建动态序列模型;基于积分几何意义的视角,利用函数逼近的思想,结合复化梯形公式,提出一种新的GM(1,1)模型背景值优化方法。算例结果表明,利用优化的背景值计算公式所建立的GM(1,1)模型在预测精度上有显著的提高。     

乳液聚合中单体醋酸乙烯酯与保护胶体聚乙烯醇的接枝反应研究

研究了以聚乙烯醇为保护胶体的醋酸乙烯乳液聚合中,聚乙烯醇与单体的接枝反应。探讨了引发剂用量、聚合反应温度、保护胶体聚合度等因素对接枝反应的影响。     

基于节点分割的社交网络属性隐私保护

现有研究表明,社交网络中用户的社交结构信息和非敏感属性信息均会增加用户隐私属性泄露的风险.针对当前社交网络隐私属性匿名算法中存在的缺乏合理模型、属性分布特征扰动大、忽视社交结构和非敏感属性对敏感属性分布的影响等弱点,提出一种基于节点分割的隐私属性匿名算法.该算法通过分割节点的属性连接和社交连接,提高了节点的匿名性,降低了用户隐私属性泄露的风险.此外,量化了社交结构信息对属性分布的影响,根据属性相关程度进行节点的属性分割,能够很好地保持属性分布特征,保证数据可用性.实验结果表明,该算法能够在保证数据可用性的同时,有效抵抗隐私属性泄露.     

考虑转包的平行机供应链排序

研究一类考虑转包的供应链排序问题, 即工厂从客户处接受一批订单, 这些订单既可以由工厂完成, 也可以通过支付一定费用进行转包. 工厂需要确定被转包的订单集并安排未被转包订单的生产和运输. 针对工厂为平行机生产环境的情况, 以交货期限内完成所有订单的转包成本、生产成本与运输成本之和最小化为目标, 构建了问题的数学模型, 并设计了启发式算法. 最后通过数值实验结果表明了算法的有效性.

     

Synthesis of novel bisphenol containing phthalazinone and azomethine moieties and thermal properties of cured diamine/bisphenol/DGEBA polymers

A novel bisphenol(1,2-dihydro-2-(4-((4-hydroxy)phenyliminomethylidene)phenyl)-4-(4-((4-(4-hydroxy)phenyliminomethylidene)phenoxy)phenyl)(2H)phthalazin-1-one, DPP) and a diamine(1,2-dihydro-2-(4-aminophenyl)-4-(4-(4-aminophenoxy)phenyl)(2H)phthalazin-1-one, DAP) were synthesized and characterized. The novel epoxy polymers containing phthalazinone and/or azomethine moieties were prepared by binary polymerization of DAP (or DPP) with diglycidyl ether of biphenyl A (DGEBA) and ternary polymerization of hybrid curing agents, DAP/DPP (DAP and DPP under different molar ratios) with DGEBA. The cure behaviors of these new epoxy systems were studied by dynamic differential scanning calorimeter (DSC) and Infrared (IR) scans. Especially, the activation energy of DAP/DGEBA calculated by Kissinger and Ozawa methods were 73.8 and 77.4 kJ/mol, respectively. For ternary epoxy system, it was found that hybrid curing agents of DAP/DPP exhibited significant associated effect on their reactivity towards the oxirane group. Glass transition temperatures (T_g's) of these new epoxy polymers were all above 150 °C from the results of DSC, and the initial thermal decomposition temperatures (T_d,5%'s) and integral procedure decomposition temperatures (IPDT's) of these new epoxy polymers are above 350 and 850 °C, respectively from results of thermogravimetric analyses (TGA). These results show that new epoxy polymers containing phthalazinone and/or azomethine moieties exhibited excellent thermal properties. Especially, thermal properties of the ternary epoxy polymers could be modified by changing the content of DAP and DPP. The linear relationships between char yield (Y_c,wt%) and the structural compositions of these new polymers (weight percentage of phthalazinone, azomethine and nitrogen, C/H weight ratio) were built.     

A porous mixed-valent iron MOF exhibiting the acs net: Synthesis, characterization and sorption behavior of Fe3O(F4BDC)3(H2O)3·(DMF)3.5

A new mixed-valent iron MOF, formulated as Fe₃O(F₄BDC)₃(H₂O)₃·(DMF)_3.5 (1), has been synthesized by using a perfluorinated linear dicarboxylate to link trigonal prismatic Fe₃(μ³-O)(O₂C–)₆ clusters. The structure refinement based on single crystal X-ray diffraction data collected from 1 reveals the material exhibits the acs topology with large channels along the crystallographic c-axis. Due to the presence of fluorine atoms the organic link, 2,3,5,6-tetrafluorobenzene-1,4-dicarboxylate (F₄BDC), has a 63° torsion angle between the carboxylate and aromatic planes, resulting in larger channels compared to those in the isoreticular material MOF-235. While few iron-based MOFs have demonstrated porosity, nitrogen and hydrogen sorption experiments carried out at 77 K proved the porosity of outgassed 1, which has a Langmuir surface are of 635 m²/g and a gravimetric capacity of 0.9 wt% of hydrogen at 1 bar.