Development of human-machine interface for teleoperation of a mobile manipulator

Human-robot control interfaces have received increased attention during the past decades for conveniently introducing robot into human daily life. In this paper, a novel Human-machine Interface (HMI) is developed, which contains two components. One is based on the surface electromyography (sEMG) signal, which is from the human upper limb, and the other is based on the Microsoft Kinect sensor. The proposed interface allows the user to control in real time a mobile humanoid robot arm in 3-D space, through upper limb motion estimation by sEMG recordings and Microsoft Kinect sensor. The effectiveness of the method is verified by experiments, including random arm motions in the 3-D space with variable hand speed profiles.     

高职院校顶岗实习管理信息化平台中的动态菜单技术

高职院校顶岗实习管理信息化平台的设计采用asp.net技术,基于B/S结构,使用起来非常方便,管理学生顶岗实习的效率更高。为了方便维护,系统采用了动态菜单技术,并且管理员可以很方便的控制其他用户菜单功能的有效性。     

3D Printing Conductive Composites with Poly(ionic liquid) as a Noncovalent Intermedia to Fabricate Carbon Circuits

In this study, a kind of imidazole type poly(ionic liquid) ([PEP-MIM]Cl) is synthesized, which can disperse carbon effectively. [PEP-MIM]Cl is used as an intermediate to coat carbon on the poly(acrylic acid)(PAA-co-MBA) via ion exchange to obtain conductive polymer composite (CPC). A series of characterizations are performed. Experiments show that carbon can be coated on the PAA-co-MBA uniformly, and compared with using carbon as filler, this method requires less carbon to achieve good conductive performance. The carbon layer on the polymer's surface is enriched via the swelling-shrinking properties of PAA-co-MBA according to the SEM images. Furthermore, in combination with 3D printing technology, PAA-co-MBA can be designed into different shapes to achieve various functions such as pressure-sensing element. Finally, a new type of CPC named carbon clad polymeric laminate (CCPL) is prepared by using the carbon coating method and 3D printing technology. It has the potential to replace copper clad laminate (CCL) and printed circuit board (PCB), to a certain extent. This technology expands the preparation method and application of the CPC such as flexible and wearable conductive fabrics.     

含砷氰化尾矿回填利用污染控制技术试验研究

针对某黄金生产企业含砷氰化尾矿污染特征,开展了搅拌洗涤法、臭氧氧化法、酸化溶砷法、铁盐固砷法等多种无害化方法联合处理试验研究,旨在将该含砷氰化尾矿处理至满足氰渣规范回填利用污染控制要求。结果表明：该含砷氰化尾矿回填利用污染控制技术工艺为压滤调浆搅拌洗涤+臭氧氧化+酸化溶砷+铁盐固砷,最佳参数为原矿浆压滤后加水调浆,矿浆浓度40%,臭氧投加量0.66 g/L,酸化溶砷pH值3、曝气量0.1 m³/h、反应时间2 h,铁盐固砷七水合硫酸亚铁投加量20.0 g/L、反应时间1 h。研究结果为该黄金生产企业含砷氰化尾矿回填利用提供了技术支撑。     

AN ELECTRON DIFFRACTION ANALYSIS OF PRECIPITATES IN A 13Ni MARAGING STEEL (280kgf/mm~2)

用X射线衍射,选区电子衍射和σ及δ相与马氏体基体之间的取向关系,鉴别了13Ni(280kgf/mm~2)马氏体时效钢的析出物。 13Ni(280kgf/mm~2)马氏体时效钢强化析出物是金属间化合物δ-(Fe,Ni,Co)Mo。锻造状态时效后还析出μ相使韧性恶化。过时效后(例如580℃ 16h空冷)形成逆转变奥氏体。时效状态样品在电子显微镜里加热至743℃时,发现粗大的δ相颗粒和长条状的σ相颗粒。 虽然衍射花样常常可以指标化成δ或σ相,但根据δ/α和σ/α之间取向关系的差别很容易区分δ和σ相。     

Properties and Microstructuresof Three Kinds of Silversheathed Bi-2223 Tapes

ＰｒｏｐｅｒｔｉｅｓａｎｄＭｉｃｒｏｓｔｒｕｃｔｕｒｅｓｏｆＴｈｒｅｅＫｉｎｄｓｏｆＳｉｌｖｅｒｓｈｅａｔｈｅｄＢｉ－２２２３ＴａｐｅｓＺｅｎｇＲｏｎｇ；ＺｈｏｕＹｉｒｕ；ＹｅＢｉｎ；ＺｈｏｕＭｉｎ；ＺｈａｎｇＪｉａｎｇｕｏ（曾荣）（周贻茹）（叶斌）...     

550 MPa级中厚板矫直过程中表面凹坑缺陷的成因与对策

针对550 MPa级高强中厚板在矫直过程中极易出现氧化铁皮压入凹坑缺陷的问题，根据现场矫直工艺，研究了在不同温度下进行热变形时试样表面和横截面的形貌，钢基体与氧化铁皮界面处平直度的变化规律。结果表明，热变形温度为450 ℃时，表面氧化铁皮开始出现裂纹，且随着变形温度的降低，裂纹的数量逐渐增加；此外，氧化铁皮与钢基体之间的界面长度随变形温度的降低而呈直线增加，表明氧化铁皮与钢基体界面平直度随着热变形温度的降低越发粗糙、易脱落而形成凹坑缺陷。为此，应适当提高终轧温度以确保矫直时钢板表面温度大于450 ℃，同时提高钢板的运行速率，防止氧化铁皮在低温变形发生破碎和脱落的同时降低氧化铁皮厚度，从而减小因氧化铁皮脱落而造成凹坑缺陷的发生几率。     

化学冶金因素对埋弧焊焊缝硫磷含量的影响

通过试验和理论分析，探讨了在埋弧焊过程中，熔池中Ｓ，Ｐ的脱去过程，主要是以分别生成硫酸盐和磷酸盐的形式进行的化学冶金反应，并提出了熔池中的硫，磷脱去过程存在一个极限值，而这个极限值与焊剂的碱度和焊剂，焊丝及母材中的硫，磷含量有关。在焊剂碱度ＢＩ≥２．５的高碱度焊剂中，根据焊丝或焊剂中硫含量的不同，熔敷金属中硫的的极限值可低于焊丝中的硫含量或接近焊剂中的硫含量；而磷的极限值为０．０１０％±０．００２