基于六轴陀螺仪的风力摆控制系统

风力摆是进行无人机设计研究的基础,对其深入分析和研究,可为四轴飞行器系统测试方案的确定、测试参数的选用、测试数据的分析等提供借鉴.文章提出的基于六轴陀螺仪的风力摆控制系统主要由控制单元、轴流风机单元、姿态检测单元等构成一个闭环系统.通过控制单元为风机输送PWM波进行初始转速控制的同时,处理MPU6050陀螺仪采集的姿态...     

Speed and Accuracy Tradeoff for LiDAR Data Based Road Boundary Detection

Road boundary detection is essential for autonomous vehicle localization and decision-making, especially under GPS signal loss and lane discontinuities. For road boundary detection in structural environments, obstacle occlusions and large road curvature are two significant challenges. However, an effective and fast solution for these problems has remained elusive. To solve these problems, a speed and accuracy tradeoff method for LiDAR-based road boundary detection in structured environments is proposed. The proposed method consists of three main stages: 1) a multi-feature based method is applied to extract feature points; 2) a road-segmentation-line-based method is proposed for classifying left and right feature points; 3) an iterative Gaussian Process Regression (GPR) is employed for filtering out false points and extracting boundary points. To demonstrate the effectiveness of the proposed method, KITTI datasets is used for comprehensive experiments, and the performance of our approach is tested under different road conditions. Comprehensive experiments show the road-segmentation-line-based method can classify left, and right feature points on structured curved roads, and the proposed iterative Gaussian Process Regression can extract road boundary points on varied road shapes and traffic conditions. Meanwhile, the proposed road boundary detection method can achieve real-time performance with an average of 70.5 ms per frame.      

Tunable metamaterial absorber based on resonant strontium titanate artificial atoms

Dynamic control of the absorption frequency and intensity of metamaterial absorbers has attracted considerable attention,and many kinds of tunable metamaterial absorbers have been proposed.Unfortunately,due to the integration of separate resonant unit and tunable unit,these designed metamaterial absorbers suffer from complex structure and low sensitivity.We numerically and experimentally demonstrate a tunable metamaterial absorber composed of artificial dielectric atoms as both resonant and tunable unit arrayed periodically in the background matrix on the metallic plate.Polarization insensitive and wide incident angle absorption band with simulated and experimental absorptivity of 99%and 96%at 9.65 GHz are achieved at room temperature.The absorption frequency can be gradually modulated by temperature,however,the absorption intensity at working frequency remains near unity.The dielectric atoms based tunable metamaterial absorbers with simple structure have potential applications as tempe rature sensors and frequency selective thermal emitters.     

交直流电压下油纸绝缘典型缺陷的局部放电特征

油纸绝缘局部放电问题受到业内普遍关注,为探究在交直流复合电压下的局部放电特征,该文搭建测量平台,并设计气隙、悬浮、柱板沿面和针板放电4种油纸绝缘典型缺陷的放电模型.结合这4种局部放电的实验结果,分析发现:在不同的复合电压比例下,4种典型缺陷局部放电会发生不同的变化,前3种缺陷平均放电量在起始阶段与直流分量呈现负向变化的...     

深层优质碎屑岩储层全生命周期分析方法论

油气勘探领域的深层是指沉积盆地中埋深在3 500~4 500 m及以深的地层。在含油气盆地的深层碎屑岩储层中，优质储层是重要的勘探目标。优质储层具有大量孔隙，其形成与沙或砂岩的沉积条件、埋藏方式、区域温压场、膏盐岩效应等多种因素有关。通过系统研究全球不同区域不同时代不同类型深层碎屑岩储层，提出优质深层碎屑岩储层的全生命周期研究方法，即从储层形成演变的全部时间出发，将深部储层的形成过程划分为早期剥蚀搬运沉积阶段、中期埋藏阶段、中期或/和晚期改造阶段，从全生命周期的尺度分阶段综合分析深层碎屑岩储层的形成及演化过程，推演在地质历史时期中的优质储层演化时序及发育阶段、分布位置。     

A Wearable Respiration and Pulse Monitoring System Based on PVDF Piezoelectric Film

A novel wearable sensor system was developed for monitoring respiration and pulse using polyvinylidene fluoride (PVDF) piezoelectric films as sensor materials. Due to the different signal intensity between respiration and pulse, a “double-sided arch” structure and a “thin-shell” structure were designed and fabricated as substrates for the respiratory sensor and pulse sensor, respectively. These sensors installed on belts can be easily tied on the chest, abdomen, or wrist for comfortable fit. In order to obtain clear respiratory and pulse signals from the sensor patch, some high-quality signal processing modules were designed. The digital signals were transmitted to a computer via Bluetooth and displayed by LabVIEW software. The fundamental principle and functional verification of the developed sensor system were described in this study. By comparing the sensor signals from the proposed structure with those of flat structure, it can be concluded that the proposed sensor is more sensitive and stable than its flat counterpart. In addition, the whole sensor system has the features of ease of use and comfortable to wear. All these make the proposed sensor system a promising sensing device for respiration and pulse real time monitoring.     

New amphoteric flocculant containing beta-cyclodextrin,synthesis, charaterization and decolorization properties

To react with the cationic monomer, N-trimethylaminoethylmethacrylate chloride (TMAEMC), a β-CD derivative carrying vinyl carboxylic acid groups (β-CD-MAH) was designed and synthesized via esterfying reaction between β-CD and maleic anhydride (MAH). Whereafter, a water-soluble amphoteric flocculant, the copolymer of TMAEMC and β-CD-MAH (β-CD-MAH-TMAEMC) has been synthesized by means of free radical copolymerization using the ammonium persulfate (APS) and sodium bisulfite (SBS) redox system as the initiator. The copolymer structure was demonstrated by FT-IR, ¹H NMR, SEM characterizations. Its excellent flocculated decolorization properties were evaluated with Acid Light Yellow 2G solutions using a jar test method. With the mass ratio of 1/10 (w/w) between the flocculant and dye, and at pH 4 and 20 °C of the initial dye solution, the maximum color removal reached. The charge neutralization played a dominant role during the flocculated decolorization process, although the inclusion of dye molecules into the cavities of β-CD well maintained in side chain of β-CD-MAH-TMAEMC also contributed to the conglomerates and floccules.     

Megasonic agitation for enhanced electrodeposition of copper

In this paper we propose an agitation method based on megasonic acoustic streaming to overcome the limitations in plating rate and uniformity of the metal deposits during the electroplating process. Megasonic agitation at a frequency of 1 MHz allows the reduction of the thickness of the Nernst diffusion layer to less than 600 nm. Two applications that demonstrate the benefits of megasonic acoustic streaming are presented: the formation of uniform ultra-fine pitch flip-chip bumps and the metallisation of high aspect ratio microvias. For the latter application, a multi-physics based numerical simulation is implemented to describe the hydrodynamics introduced by the acoustic waves as they travel inside the deep microvias.     

预变形对Al-Zn-Mg铝合金组织及力学性能的影响

系统研究了预变形温度对Al-Zn-Mg铝合金微观组织结构及力学性能的影响。运用光学显微镜和透射电镜观察了微观组织,扫描电镜表征了拉伸断口形貌,X射线衍射仪测试了宏观织构构成,万能拉伸试验机测试了力学性能。结果表明,在400 ℃的热轧温度下,力学性能指标最佳,屈服强度和抗拉强度分别达到325 MPa和455 MPa,伸长率达到14%。不同热轧温度下的拉伸试样断口均呈现为韧性断裂,断口处均存在数量和尺寸不一的韧窝。400 ℃热轧变形温度下,晶粒内部的位错缠结消失,形成了晶界附近规则排列的位错墙;450 ℃时,晶内的位错消失,主要为再结晶晶粒。在350 ℃和400 ℃热轧变形温度下,织构中存在明显的剪切织构,包括旋转立方织构{001}<110>和黄铜R织构{111}<112>和{111}<110>。450 ℃热轧变形温度下,出现明显的再结晶织构Cube_ND {001}<310>。     

脉冲处理对Al-6Zn-3Mg-2Cu合金铸轧板组织及性能的影响

研究了常规铸轧过程中施加20、50和150Hz频率,电流强度为400A的脉冲电流对Al-6Zn-3Mg-2Cu合金铸轧板的组织及力学性能的影响。结果表明,经20Hz的脉冲电流处理后,Al-Zn-Mg-Cu合金铸轧板偏析情况大为改善,微观组织显著细化;150Hz脉冲电流对铸轧板的组织影响不大;铝合金中τ相广泛分布,呈网状或岛状;同时,经20Hz脉冲电流处理的铸轧板抗拉强度可达320MPa,是常规铸轧板强度的1.3倍;样品具有脆性断裂特征,脉冲处理后韧性有所提高。