Characterisation of inelastic power-law fluids using falling sphere data

Two simple methods are presented for the characterization of inelastic power law fluids from falling sphere data. The methods involve the application of shear rate or shear stress correction factors which have been derived theoretically using Slattery's solution for creeping flow about spheres. Flow curves obtained using these methods are in excellent agreement with those measured on a Weissenberg rheogoniometer for 0.83 ≤ n ≤ 1.0. The experimentally determined drag coefficients are found to be in good agreement with the predictions of Slattery's creeping flow first approximation solution. The wall correction factors of Faxen and Francis appear to be valid for inelastic non-Newtonian fluids up to a diameter ratio of at least 0.08.     

面向制造任务的云制造虚拟车间构造方法

针对云制造模式下快速选择和组织相关制造资源、保证制造任务执行的问题,提出一种面向制造任务的云制造虚拟车间构造方法。该方法将制造过程抽象为制造任务执行链,链中的节点对应制造设备云服务或检验云服务,链中的有向边对应物流云服务;并通过行业域、地域和类型域来组织管理云服务,以构造规模较小的候选云服务集,同时减少功能匹配、性能匹配、价格匹配和时间匹配的计算量,达到快速构建云制造虚拟车间的目的。算例分析表明,相比其他方法,该方法能够在更短的时间内完成云服务的选择,并保证所选云服务的服务质量（QoS）在相关域中是更好的。     

田间除草机器人研究进展综述

聚焦田间杂草清除领域,首先介绍了除草机器人的产生背景及其应用价值,并回顾了除草机器人国内外发展现状.然后,重点分析了除草机器人的结构组成及相关技术,并展望了除草机器人的未来发展趋势.最后,作了总结.     

Design of a Sliding Mode Controller with Fuzzy Rules for a 4-DoF Service Robot

In this study, a novel control strategy that combines a fuzzy system and the sliding mode controller is proposed for improving stability and achieving high-accuracy control in service robots. Based on the kinematic and dynamic models of a 4-degrees of freedom manipulator, and the observed tracking error using a low-cost inertial sensor, the proposed fuzzy sliding mode controller (FSMC(IMU)) is designed to generate appropriate torques at robot joints. The FSMC(IMU) controller parameters are adjusted through a fuzzy rule that determines the state of the system. The error in trajectory tracking is reduced through this. The gain value K can be finely adjusted by fuzzy control by observing the degree of vibration after entering the sliding mode surface. The larger the observed vibration value, the faster the fuzzy controller follows the given input trajectory by selecting a smaller gain value K and reducing jitter due to the sliding mode control’s discontinuous switch characteristics. When the degree of error is small, it achieves faster and more accurate control performance than when the observer is not used. The stability of the FSMC(IMU) system is verified via disturbance experiments. The experimental data are compared with the conventional sliding mode controller and proportional-derivative control. The experimental results demonstrate that the proposed FSMC(IMU) controller is stable, fast, and highly accurate in controlling service robots.

     

德惠断陷下白垩统碎屑岩储层特征及控制因素分析

德惠断陷下白垩统登娄库组、营城组、沙河子组储层物性差,勘探风险大.利用岩心观察、铸体薄片鉴定、扫描电镜分析、黏土X线衍射分析等方法,分析储层基本特征、储层成岩作用和控制因素.结果表明:德惠断陷下白垩统碎屑岩储层成分成熟度和结构成熟度较低,储层孔隙类型主要有残余原生孔、次生孔和混合孔,储层物性和孔隙结构较差;压实作用是导致储层物性变差的主要原因,溶蚀作用改善储层物性;纵向上发育2个次生孔隙带,主要形成于中成岩期,次生孔隙带的形成与有机质生烃排酸和断裂有关.研究结果为德惠断陷下白垩统进一步油田勘探提供地质依据,对其他地区类似储层研究有一定借鉴意义.     

深井裸眼封隔器分段酸压管柱打捞实践

安岳气田灯影组气藏广泛采用大斜度井/水平井裸眼封隔器分段酸压工艺试油完井,悬挂封隔器及下部管柱被“永久性”留在井下。如果利用原裸眼侧钻,则需要打捞分段酸压管柱至套管鞋以下30 m左右。MX126井和GS121井前期打捞作业历时均超过50 d,打捞效率非常低,主要原因为：悬挂封隔器双向锚定,裸眼封隔器和连接油管埋卡严重且位于大斜度井段,压井后长时间静止埋卡越来越严重;钻井液压井后切割油管受阻,没有完成落鱼切割分段;套磨铣导致封隔器解体,倒扣时落鱼出现多处退扣,倒扣打捞效率低。针对上述问题,优化了打捞技术措施：钻井液压井前,采用泵送径向切割工艺在清水中切割油管,确保切割成功率;采用带压拔出插管循环压井,缩短钻井液浸泡时间,降低次生卡钻风险;优选磨铣工具和打捞工具,优化磨铣工艺和震击解卡打捞工艺,维持落鱼完整性、力求捞出整段被切割落鱼。该技术成功应用于MX146井和GS127井后期的打捞作业,分别用时12 d和5 d。该技术可以显著提高裸眼封隔器分段酸压管柱的打捞效率,具有推广应用价值。     

Study on the security of the authentication scheme with key recycling in QKD

In quantum key distribution (QKD), the information theoretically secure authentication is necessary to guarantee the integrity and authenticity of the exchanged information over the classical channel. In order to reduce the key consumption, the authentication scheme with key recycling (KR), in which a secret but fixed hash function is used for multiple messages while each tag is encrypted with a one-time pad (OTP), is preferred in QKD. Based on the assumption that the OTP key is perfect, the security of the authentication scheme has be proved. However, the OTP key of authentication in a practical QKD system is not perfect. How the imperfect OTP affects the security of authentication scheme with KR is analyzed thoroughly in this paper. In a practical QKD, the information of the OTP key resulting from QKD is partially leaked to the adversary. Although the information leakage is usually so little to be neglected, it will lead to the increasing degraded security of the authentication scheme as the system runs continuously. Both our theoretical analysis and simulation results demonstrate that the security level of authentication scheme with KR, mainly indicated by its substitution probability, degrades exponentially in the number of rounds and gradually diminishes to zero.     

行动导向教学法在中职电子商务教学中的应用研究

行动导向教学法的应用改变了中职电子商务原有的教学思路和模式,电子商务教学的方法和手段得到了极大地丰富。通过自主学习学到的知识能够被学生更好的理解,独立实施而形成的技能能够被学生更好地掌握。行动导向法中常用的方法包括:项目教学法、角色扮演法、案例教学法、头脑风暴法等。教师在上课时应根据教学内容、实训实习条件、学生课堂氛围,针对性选取教学方法,达到加强教学效果的目的。     

Massively parallel Lucas Kanade optical flow for real-time video processing applications

This paper deals with dense optical flow estimation from the perspective of the trade-off between quality of the estimated flow and computational cost which is required by real-world applications. We propose a fast and robust local method, denoted by eFOLKI, and describe its implementation on GPU. It leads to very high performance even on large image formats such as 4 K (3,840 × 2,160) resolution. In order to assess the interest of eFOLKI, we first present a comparative study with currently available GPU codes, including local and global methods, on a large set of data with ground truth. eFOLKI appears significantly faster while providing quite accurate and highly robust estimated flows. We then show, on four real-time video processing applications based on optical flow, that eFOLKI reaches the requirements both in terms of estimated flows quality and of processing rate.