The modeling and implementation of tri-rotor flying robot

The objective of this study is to develop a tri-rotor flying robot, which adopts the Y-shaped three-rotor structure. In order to balance the yaw torque produced by the three rotors, the RC servomotor and linkage is installed on the tail axis in order to improve the angle of the rolling axis of the tail motor. Moreover, through the torque generated by the horizontal component of the lift from the inclined motor on the tail axis, it balances the yaw torque of the three rotors. The dynamic equations of the tri-rotor flying robot are determined in this paper. The relationship between motor thrust, angular acceleration, and voltage input was also studied in this research. In order to study the effect of control parameters on the flight stability completely, this study develops a universal stability experimental platform to help tuning the control parameters safely. Based on this, the tri-rotor flying robot can rapidly change flying gesture and avoid oscillation. Finally, we conducted some indoor and outdoor flight tests. From the experimental results, the tri-rotor flying robot can fly and hover stably in the sky.     

Sensitizing Effect of Mixed Surfactants on the Colouration of Scandium(Ⅲ)with Phenylfluorone or Its Derivatives

In the presence of mixed micelle of a cationic and a nonionic surfactants,the reaction of scandium(Ⅲ)with phenylfluorone or its derivatives results in a very sensitive colouration:furthermore this chromophoricsystem tolerates the existence of a considerable amount of masking agents,so that many interfering ions can bemasked and its selectivity would be further improved.After studying the optimum conditions and main charac-ters of some similar systems,the system of Sc(Ⅲ)—Orthonitrophenyuorone—CetyltrimethylammoniumBromide(CTMAB)—Triton X-200 is chosen for the spectrophotometric determination of microamount ofscandium.The proposed method shows not only high sensitivity(with a molar absorptivity of 2.12×1~sLmol~(-1)·cm~(-1))and selectivity,but also high tolerance of chromophoric conditions.Beer's law is obeyed over arange of 0～6.0 μg Sc/25ml.If the dual-wavelength method is applied,a much higher molar absorptivity o|"3.04×10~5L·mol~(-1)·cm~(-1)than those of other systems ever reported in the literatures can be attained:more-over.its linear range is extended to 0～8.0 μg Sc/25ml and its reproducibility is also improved.     

以1,3-二(4-邻羟基苯亚胺次甲基)苯氧基丙烷为载体的铁离子(Ⅲ)电极的研究

以1,3-二(4-邻羟基苯亚胺次甲基)苯氧基丙烷为中性载体制备了PVC膜Fe3+离子选择性电极。该电极对Fe3+呈现出良好的选择性和近Nernst电位响应性能。电极斜率为21mV/dec,线性范围为3.0×10-5～1.0×10-1mol/L,检出限为1.0×10-5mol/L。采用交流阻抗技术研究了电极的响应机理,并将电极作为指示电极初步用于EDTA的电位滴定。     

基于信息化的地表水水质预测

水利信息化技术指在水质信息管理、水质分析评价、水质预测和抗洪救灾等方面提供了多重应用需求;本文针对目前主流的计算机技术,对地表水常见水质预测方法进行分析与探索。     

High-performance Multicrystalline Silicon Ingots Assisted by Recycled Multicrystalline Silicon Block Tailing as Seeds

Silicon - Nowadays, casted multicrystalline silicon is the most important material in photovoltaic industry. In order to reduce the cost of silicon ingots, the recycle of silicon ingot tailings is...     

Genome-Wide Analysis of the Late Embryogenesis Abundant (LEA) and Abscisic Acid-, Stress-, and Ripening-Induced (ASR) Gene Superfamily from Canavalia rosea and Their Roles in Salinity/Alkaline and Drought Tolerance

Canavalia rosea (bay bean), distributing in coastal areas or islands in tropical and subtropical regions, is an extremophile halophyte with good adaptability to seawater and drought. Late embryogenesis abundant (LEA) proteins typically accumulate in response to various abiotic stresses, including dehydration, salinity, high temperature, and cold, or during the late stage of seed development. Abscisic acid-, stress-, and ripening-induced (ASR) genes are stress and developmentally regulated plant-specific genes. In this study, we reported the first comprehensive survey of the LEA and ASR gene superfamily in C. rosea. A total of 84 CrLEAs and three CrASRs were identified in C. rosea and classified into nine groups. All CrLEAs and CrASRs harbored the conserved motif for their family proteins. Our results revealed that the CrLEA genes were widely distributed in different chromosomes, and all of the CrLEA/CrASR genes showed wide expression features in different tissues in C. rosea plants. Additionally, we introduced 10 genes from different groups into yeast to assess the functions of the CrLEAs/CrASRs. These results contribute to our understanding of LEA/ASR genes from halophytes and provide robust candidate genes for functional investigations in plant species adapted to extreme environments.     

医药副产含磷废盐的提纯研究

随着精细化工及中间体产品的发展,各类副产废盐量不断增加,由于其产生量大及难处理等特点,成为阻碍行业发展的一大瓶颈。主要开展了医药副产含磷废盐的提纯实验研究,针对废盐产生的途径和特性,采用洗脱剂（甲醇-乙醇）+活性炭混合洗脱与重结晶的方式,分别去除废盐中的有机物和氯化钠,回收可利用的磷酸盐,实现废盐的提纯资源化。当洗脱剂与废盐的体积质量比为1 mL/g、洗脱剂甲醇与乙醇的体积比为4∶6、活性炭用量为废盐质量的0.4%时,废盐中的有机物得到了有效去除。随后对得到的混盐进行重结晶得到回收磷酸盐,回收磷酸盐的纯度可达98%以上,符合工业磷酸盐行业标准的要求。将含磷废盐提纯回收磷酸盐,1 t废盐的处理成本约为174.24元,可回收0.61 t磷酸盐,实现了废盐的资源化再利用。     

工艺因素对82B钢280 mm x325 mm铸坯凝固过程的影响

为模拟不同工艺条件下的连铸坯的凝固过程,采用有限元法模拟了82B钢连铸的凝固过程,获得280 mm×325 mm连铸坯的温度场。结果表明,随拉速从0.60 m/min增加到0.76 m/min,凝固时f_s=1处与f_s=0处皆后移,但中心凝固时间反而增加了9.8%。随过热度由15℃增加到50℃时,凝固末端f_s=1处同样后移,约后移1.1 m。根据模拟结果改进连铸工艺,当拉速从0.60 m/min增加到0.76m/min,增加轻压下工艺可改善低倍质量。     

电解电容器铝箔纯交流腐蚀工艺影响因素的研究

对电解电容器铝箔交流腐蚀体系中各影响因素的研究结果表明，在电流密度为０．５Ａ／ｃｍ２，温度为４７±２℃；控制腐蚀液中Ａｌ（３＋）含量及适量添加表面保护剂和辅助添加剂的条件下，可获得最大比电容。通过循环伏安曲线测试，探讨了各因素影响腐蚀的机理及相互关系。