一种新型可变径管道机器人的结构设计与控制实现

基于ATmega128单片机的管道探测机器人系统,包括硬件系统设计以及软件程序实现。为满足不同工业环境的需要,设计了无线与RS485总线两套通信方案进行人机交互控制系统与单片机的通信。独特的变径结构可以让机器人适应不同管径的管道,配合高效的电池切换算法,可以使其更好的适应工业环境。为了观察管道内部信息,安装了一个可360°旋转的摄像头,将管道内部画面实时传送给上位机。     

嵌入式二维码数据无线多点传输系统设计

设计了一种基于FreeRTOS嵌入式操作系统的二维条码无线传输系统,描述了系统的软硬件实现方法和多点数据传输的链路控制机制。系统主控芯片采用通用的MCU芯片STM32,结合二维码扫描引擎和蓝牙传输模组实现多个扫描终端与基座间的数据传输。     

Rapid pyrolysis of brown coal and oil shale

A brown coal, peat and oil shale were subjected to a rapid pyrolysis process and medium-heat-value gases together with tar were collected. The char residue was of high activity and suitable for gasification to create a two-stage gasification system. The coal-tar is used for manufacturing liquid fuels and chemicals.     

欠驱动岸边集装箱起重机防摆控制方法研究综述

针对控制领域的研究热点之一非线性、欠驱动岸边集装箱起重机防摆控制问题,从欠驱动系统的概念和岸边集装箱起重机动力学模型出发,详细分析研究的必要性、国内外研究现状和难点。最后,分析现有控制方法存在的主要问题,并对岸边集装箱起重机防摆控制方法进一步的发展方向进行了展望。     

A kinetic study of the activated anionic polymerization of ε-caprolactam

The diversities existing among published kinetic studies on activated anionic polymerization of ε-caprolactam are closely examined. A kinetic model derived from a regular, linear reversible reaction mechanism is employed to explain the experimentally observed autocatalytic character of the polymerization system and to examine the dependence of the apparent activation energy on the experimental method. Several existing kinetic models tested with our experimental data show that the autocatalytic type rate equation best describes the polymerization process.     

High temperature polymerization of propylene catalyzed by MgCl2‐supported Ziegler–Natta catalyst with various cocatalysts

Four cocatalysts, referred to as ethylaluminoxanes, were synthesized by the reaction between triethylaluminium (AIEt₃) and water under various molar ratios of H₂O/Al at ?78°C. Aluminoxanes were used as cocatalysts for a MgCl₂‐supported Ziegler–Natta catalyst for propylene polymerization at temperatures ranging from 70 to 100°C. When the polymerization was activated by AlEt₃, the activity as well as the molecular weight and isotacticity of the resulting polymer gradually dropped as the temperature varied from 70 to 100°C. When ethylaluminoxane was employed as the cocatalyst, good activity and high molecular weight and isotacticity were obtained at 100°C. Furthermore, when the cocatalyst varied from AlEt₃ to ethylaluminoxane, the atactic fraction and polymer fraction with moderate isotacticity decreased and the high isotactic fraction slightly increased, which indicated that the variation of the cocatalyst significantly affects the isospecificity of active sites. It was suggested that the reactivity of the Al‐Et group and the size of the cocatalyst were correlated to the performance of the Ziegler–Natta catalyst at different temperatures. © 2006 Wiley Periodicals, Inc. J Appl Polym Sci 100: 1978–1982, 2006     

Morphology of conducting polymeric coatings: quantitative comparison between theory and experiment

The density profile of electrosynthesized polymeric layers on carbon fibers is obtained from gravimetric and scanning electron microscopy (SEM) data. The coating density ρ is found to decrease with increasing radial distance, r, subject to the power law . Based on a modified diffusion-limited aggregation (DLA) model, it is shown that lattice Monte Carlo simulation of the coating process predicts the experimentally observed power law exponent.     

含磷氯和氮的化合物对软质PU泡沫塑料的阻燃作用

较全面地研究了含磷和氯(或氮)的化合物对软质聚氨酯泡沫塑料的阻燃作用,表明:(1)磷与氯或氨复配的协同阻燃效应能明显提高其阻燃效率,当其阻燃剂用量为11%—12%时,PU软泡的阻燃性达到GB10800—89阻燃一级;(2)使含磷氮阻燃基团结合在PU分子中,能降低阻燃剂的逃失性,从而提高材料阻燃耐久性,为阻燃技术的研究指出一条新途径。     

Surface Preparation of Tantalum for Encapsulation and Adhesive Bonding

A number of methods of surface preparation of tantalum for encapsulation in silicone rubber and for structural adhesive bonding were explored. The only ones which could be generally useful were boiling for 24 hours in distilled water (28% improvement) or boiling for 4 hours in 20% sodium hydroxide solution followed by boiling for 2 hours in dilute hydrochloric acid (34% improvement). An alternative, which could sometimes be used, was heating in air for at least 2 hours at 100°C.     

Product and process parameters determination for quality and cost

The purpose of this study is to conduct a concurrent product and process parameters determination for further cost reduction and quality enhancement. The process design-related parameters, such as process mean, process tolerance and product design-related parameters, such as product tolerance, are considered simultaneously in the proposed approach. To reflect the response from these three key controllable characteristics: process mean, process tolerance and product tolerance, the key measurement score, which is the sum of the mean cost, tolerance cost, quality loss and failure cost, is used to evaluate the present model. Two examples are provided for demonstrating the application of single and multiple quality characteristics.