霍夫空间中多足球机器人协作目标定位算法

针对嵌入式仿人足球机器人提出一种霍夫空间中的多机器人协作目标定位算法。机器人利用实验场地中的标志物采用基于三角几何定位方法进行自定位,把机器人多连杆模型进行简化,通过坐标系位姿变换把图像坐标系转换到世界坐标系中,实现机器人目标定位;在多机器人之间建立ZigBee无线传感器网络进行通信,把多个机器人定位的坐标点进行霍夫变换,在霍夫空间中进行最小二乘法线性拟合,获取最优参数,然后融合改进后的粒子滤波实现对目标小球的跟踪;最后在21自由度的仿人足球机器人上进行仿真和实验。数据结果表明,这种多机器人协作的定位算法的精度提高了约48%,在满足实时性的前提下,对目标的跟踪效果也得到了改善。     

浅析高职院校智能排课系统的设计

高校教学管理信息化是高校教育信息管理现代化的基础及关键,而其中排课工作是教学管理信息化过程中的一项重要且繁杂的基础性工作,其实质是具体的落实教学活动。本文介绍了高职院校教学管理系统的排课功能模块设计,重点论述了智能排课子系统的分析和设计,目的是为了开发出一套适合高职院校实际情况的网络教学管理系统。     

项目部合作开发报表系统

结合项目部合作开发报表生成及查询的实际需要,按照公司报表系统通用要求,全力开发易操作且高效率的报表系统。详细阐述报表系统所应用的软硬件环境、系统特点、系统操作说明及在实际工作中应用的优点综述。     

Parallel Algorithms for Image Template Matching on Hypercube SIMD Computers

This correspondence presents several parallel algorithms for image template matching on an SIMD array processor with a hypercube interconnection network. For an N by N image and an M by M window, the time complexity is reduced from O(N2M2) for the serial algorithm to O(M2/K2 + M * log2 N/K + log2 N * log2 K) for the N2K2-PE system (1 ? K ? M), or to O(N2M2/L2) for the L2-PE system (L ? N). With efficient use of the inter-PE communication network, each PE requires only a small local memory, many unnecessary data transmissions are eliminated, and the time complexity is greatly reduced.     

Improved electric insulation ability and ferromagnetic property in Nb2O5 doped BiFeO3-based multiferroic ceramics

Journal of Electroceramics - 0.675BiFeO3-0.3BaTiO3-0.025LaFeO3-x mol% Nb2O5 (x?=?0–1.25) multiferroic lead- free ceramics, fabricated by conventional solid-state reaction, were...     

挤压铸造Al-5Cu合金的组织与性能

使用挤压铸造工艺制备出一种新开发的、高强韧Al-5Cu合金,在50 MPa挤压力下铸造成型后,进行T4和T5热处理.经固溶处理后其抗拉强度达472 MPa,伸长率达10.5%.并对热处理状态下的组织和性能进行了分析研究.     

Effect of sulfate on Cu(Ⅱ) sorption to polymer-supported nano-hydrated ferric oxides: Experimental and modeling studies

Incorporating of hydrous ferric oxide(HFO) inside porous supports with large sizes has become an effective way to decontaminate the water from heavy metals. Ubiquitous anions like sulfate are usually present in high concentrations in water, and might greatly affect adsorption behavior of hybrid HFO. Here, a polymer-based HFO-CPS was fabricated by encapsulating nano-HFO inside a chloromethylated polystyrene polymer(CPS) and the reactivity of HFO-CPS with Cu(Ⅱ) was evaluated in the presence of sulfate ions.Surface complexation theory was firstly employed to describe the effect of sulfate on Cu(Ⅱ) adsorption edges of hybrid HFO-CPS, where constant capacitance model(CCM) was adopted. The available weak adsorption site Fe_((2))OH of hybrid HFO-CPS was found to decrease from 20% Fe to 5% Fe, which might be caused by the pore plugging effect after HFO encapsulation. With the assumption that a ternary complex was formed, the effect of sulfate on Cu(Ⅱ) adsorption by HFO-CPS were successfully described by CCM using the optimized Fe_((2))OH site under different sulfate concentrations(1 or 10 mmol·L~(-1)) and Cu/Fe ratios(0.0042 or 0.0252). It is confirmed that the formation of Fe OHCu SO_4 ternary surface complexes played an important role in enhancing Cu(Ⅱ) adsorption on HFO-CPS in the presence of sulfate.     

PAN/FPU Composite Nanofiber Membrane with Superhydrophobic and Superoleophobic Surface as a Filter Element for High-Efficiency Protective Masks

Recently, because of the outbreak of COVID-19, the demand for various types of filter elements in protective materials has increased globally. Furthermore, new requirements for the filtration performance of PM2.5 liquid (oil) particles have been put forward. In this work, Superhydrophobic and superoleophobic composite nanofibers with excellent filtration capacity for oil and salt particles are developed through the modification of polyacrylonitrile (PAN) by fluoro-polyurethane (FPU) doping. The results show that the PAN/FPU composite nanofibers doped with 9 wt% FPU has a uniform fiber morphology with a diameter of 240 ± 30 nm. Compared to the pure PAN nanofibers, the water-based contact angle of PAN/FPU increases from 90 ± 5° to 151 ± 5°, and the oil-based contact angle increases from 58 ± 2° to 152 ± 3°. Importantly, at a high flow rate of 95 L min⁻¹, the filtration efficiency of the PAN/FPU nanofiber membrane for 0.3 µm oil particles increases from 92 ± 1% to 99.2 ± 0.1%. After cyclic loading, the filtration efficiency of 0.3 µm oil particles remains above 98%. Meanwhile, the filtration efficiency for 0.3 µm salt particles remains at 98.23 ± 0.1%. The PAN/FPU nanofiber membrane developed in this work is effective in applications and has good market prospects as a protective filtration material.     

改性环氧树脂在立磨主减速机基础修复的应用

某公司一条60万t/年矿渣微粉生产线,使用的是其他公司出售的二手立磨设备,经过异地拆卸、分解运输至新生产线进行组装和调试。经过3个月左右的使用,立磨主减速机出现了较大幅度的周期性摆动（无需仪器检测,肉眼可见摆动幅度）,基础钢底板周期性弹动。     

扫描速度对硼铸铁气缸套表面钨极氩弧硬化效果的影响

研究了钨极氩弧扫描速度对硼铸铁表面硬化效果的影响规律。结果表明：扫描速度增加,硬化层宽度、深度减小,而硬度提高,裂纹率增大；硬化层硬度沿层深的分布是从表及里由高而低,在过渡区下降缓慢；沿层宽的分布是层中心最高,向两侧逐渐降低,直至硼铸铁基体达到最低值；在保证不出现裂纹的条件下,硬化层表面的最高硬度值可达61．4HRC,硬化层最高显微硬度值可达1156．4HV0．1；硼铸铁材料采用氩弧热源淬火时,淬硬层与基体之间过渡区明显,硬化区组织为莱氏体,过渡区为马氏体、残余奥氏体和少量石墨。