基于路标点追踪的差速驱动机器人运动规划

首先,针对三角网格路径规划方法采用D-P算法提取路标点时,其最大阈值不易确定等问题,提出基于碰撞检测的抽取路标点方法.同时采用Pure Pursuit算法跟踪路标点,对差速驱动机器人进行运动规划;然后,通过实验对比分析表明,在提取路标点时,与D-P算法相比,碰撞检测方法更加优越;最后,通过差速驱动机器人的运动规划实验表明:Pure Pursuit算法追踪路标点方法规划的运动轨迹为一条光滑曲线,能够有效地避开地图上的障碍物;机器人角速度和线速度均为光滑函数,变化平缓,在路标点附近出现较小波动,波动范围均在允许值内;运动规划时间为0.049s,完全能够满足实际需求.研究结果表明,基于路标点追踪的移动机器人运动规划是一种简单有效的运动规划方法.     

Designing Metallic and Insulating Nanocrystal Heterostructures to Fabricate Highly Sensitive and Solution Processed Strain Gauges for Wearable Sensors

All‐solution processed, high‐performance wearable strain sensors are demonstrated using heterostructure nanocrystal (NC) solids. By incorporating insulating artificial atoms of CdSe quantum dot NCs into metallic artificial atoms of Au NC thin film matrix, metal–insulator heterostructures are designed. This hybrid structure results in a shift close to the percolation threshold, modifying the charge transport mechanism and enhancing sensitivity in accordance with the site percolation theory. The number of electrical pathways is also manipulated by creating nanocracks to further increase its sensitivity, inspired from the bond percolation theory. The combination of the two strategies achieves gauge factor up to 5045, the highest sensitivity recorded among NC‐based strain gauges. These strain sensors show high reliability, durability, frequency stability, and negligible hysteresis. The fundamental charge transport behavior of these NC solids is investigated and the combined site and bond percolation theory is developed to illuminate the origin of their enhanced sensitivity. Finally, all NC‐based and solution‐processed strain gauge sensor arrays are fabricated, which effectively measure the motion of each finger joint, the pulse of heart rate, and the movement of vocal cords of human. This work provides a pathway for designing low‐cost and high‐performance electronic skin or wearable devices.     

热处理非晶态Ni-P合金镀层的晶化过程

运用电沉积的方法在45钢基体上制备Ni-P合金镀层,使用差示扫描量热法(DSC)和热重法(TG)分析非晶态NiP合金镀层在20℃/min加热速率下的热效应和质量变化。在300℃和400℃分别对镀层进行0,15,30,45,60,75min的热处理,采用扫描电镜(SEM)、能谱仪(EDS)、X射线衍射仪(XRD)、显微硬度计对镀层进行表征。结果表明:Ni-P合金镀层在加热过程中的放热峰出现在284.8℃处,镀层的质量和元素组成稳定;晶化过程经历了非晶态、亚稳态NiP和Ni5P2、稳定态Ni3P的转变;经过热处理后,镀层的显微硬度显著提高,最大值达1036.56HV,约为镀态的2倍;热处理态镀层的耐NaCl溶液腐蚀性能比镀态有所下降,但两者都比45钢基体好。     

Electrochemical corrosion behavior of 2A02 Al alloy under an accelerated simulation marine atmospheric environment

The corrosion behavior of 2A02 Al alloy under simulated marine atmospheric environment has been studied using mass-gain, scanning electron microscope/energy dispersive spectroscopy (SEM/EDS), laser scanning confocal microscopy, X-ray diffraction spectroscopy and localized electrochemical methods. The results demonstrate that the relationship between the corrosion induced mass-gain and the corrosion time is in accordance with the power rule. The mass-gain increases gradually during the corrosion time, while the corrosion rate decreases. With ongoing of the corrosion, corrosion products film changed from a porous to a compact structure. The various spectroscopic data show that the corrosion products films composed mainly of Al(OH)₃, Al₂O₃ and AlCl₃. The electrochemical corrosion behavior of the 2A02 Al alloy was studied by electrochemical impedance spectroscopy (EIS).     

Peptidyl Virus-Like Nanovesicles as Reconfigurable “Trojan Horse” for Targeted siRNA Delivery and Synergistic Inhibition of Cancer Cells

The self-assembly of peptidyl virus-like nanovesicles (pVLNs) composed of highly ordered peptide bilayer membranes that encapsulate the small interfering RNA (siRNA) is reported. The targeting and enzyme-responsive sequences on the bilayer's surface allow the pVLNs to enter cancer cells with high efficiency and control the release of genetic drugs in response to the subcellular environment. By transforming its structure in response to the highly expressed enzyme matrix metalloproteinase 7 (MMP-7) in cancer cells, it helps the siRNA escape from the lysosomes, resulting in a final silencing efficiency of 92%. Moreover, the pVLNs can serve as reconfigurable “Trojan horse” by transforming into membranes triggered by the MMP-7 and disrupting the cytoplasmic structure, thereby achieving synergistic anticancer effects and 96% cancer cell mortality with little damage to normal cells. The pVLNs benefit from their biocompatibility, targeting, and enzyme responsiveness, making them a promising platform for gene therapy and anticancer therapy.     

Will the experience of playing a violent role in a video game influence people’s judgments of violent crimes?

The present study investigates the impact of the experience of role playing a violent character in a video game on attitudes towards violent crimes and criminals. People who played the violent game were found to be more acceptable of crimes and criminals compared to people who did not play the violent game. More importantly, interaction effects were found such that people were more acceptable of crimes and criminals outside the game if the criminals were matched with the role they played in the game and the criminal actions were similar to the activities they perpetrated during the game. The results indicate that people’s virtual experience through role-playing games can influence their attitudes and judgments of similar real-life crimes, especially if the crimes are similar to what they conducted while playing games. Theoretical and practical implications are discussed.     

高层建筑结构力学模型仿真系统

该文介络了高层建筑结构力学模型仿真的理论基础、关键技术和实现途径,并简述了高层建筑结构多媒体仿真系统MSTB的设计特点。     

Array SSL VPN如何保障番禺有线办公网的安全运行

企业办公自动化系统的应用十分广泛,随着互联网的高速发展,WEB应用成为主流,OA系统在互联网上的延伸成为大趋势,本文阐述在WEB应用中如何保障数据和系统安全的手段和方法。