An automatic docking method for large-scale sections based on real-time pose measuring and assembly deviation control

Aiming at the problem of poor accuracy consistency of large sections’ docking assembly, an automatic docking method using multiple laser trackers to measure the position and posture of the docking sections in real time was proposed. In the solution of the pose of the docking section, real-time pose measurement of the docking section was realized by establishing a global coordinate system and a coordinate fusion method of three or more laser trackers. In the automatic control of the docking process, the real-time communication protocol and the circular negative feedback control strategy of measurement-adjustment-re-measurement are adopted, and the fully-automated docking of large sections is realized. Finally, an experimental verification system was set up, and the docking of the large-scale section reduction models was realized under the requirements of docking accuracy, and the effectiveness of the automatic docking scheme was successfully verified.     

Adaptive prescribed time control for quadrotor formation with stochastic links failure

The formation control for multiple quadrotors subject to maintaining the formation configuration and collision avoidance in the situation of stochastic links failure is investigated in this paper. First, the distributed formation controller is designed, the position controller is developed to manage the desired formation of position, and the attitude controller is developed to control the translation and rotation movements of the quadrotor. Then, in order to avoid the collisions between multiple quadrotors and the obstacles, a potential energy function method is introduced into the quadrotor formation control combined with the nest adaptive control. Inspired by the design of event trigger controller, a communication compensation controller is designed to ensure the stability of quadrotor formation under the condition of random communication interruption and recovery. Moreover, a prescribed time function is designed, which means the convergence time of the formation system can be set in advance. The prescribed time stability of the formation control system is proved by Lyapunov theory. Finally, the simulation results verify the effectiveness and superiority of this method.     

基于有序介孔碳/PDDA固定化漆酶的邻苯二酚传感器性能研究

采用有机交联水性环氧树脂为碳源,以SBA-15为模板,制备了有序介孔碳(OMC),并对其电化学性能进行研究。透射电镜结果表明其具有典型的二维有序六角介孔结构,孔径大约为3nm。电化学测试结果表明OMC/Lac/Au电极对邻苯二酚具有很好的电催化氧化活性。将OMC应用于构建漆酶生物传感器,结果表明,传感器对邻苯二酚的线性检测范围为0.67~8.59μmol/L,灵敏度为0.349A/(mol/L),检测限为0.117μmol/L。     

滚筒反力式制动检验台制动力测量不确定度评定

本文介绍了滚筒反力式制动检验台制动力的不确定度评定。     

微纳连接技术研究进展

近年来,集成电路不断向短小轻薄的高集成方向发展,推动着器件封装尺寸不断缩小,也使器件封装结构发生着改变.同时,作为信息革命的重要组成部分,集成电路技术往往涉及到多个领域的交叉和相互渗透,如微机电系统、精密仪表以及柔性器件等,而作为电子元器件封装中的关键技术,微纳连接技术的发展直接关系到电子工业中新型封装结构的研发与技术革新.因此,集成电路中微纳连接技术的发展也与多个技术领域密切相关.本文针对电子组装中微连接技术进行归纳和总结,并阐述纳米连接技术所取得的最新研究进展.通过总结微纳连接技术在不同互联尺度下的研究与应用现状,明确了微纳连接技术在电子工业领域中的重要作用,也为目前和未来的相关研究工作提供参考方向.     

Routes for high-performance thermoelectric materials

Thermoelectric materials can be used in direct conversion of heat to electricity and vice versa. The past decade has witnessed the rapid growth of thermoelectric research, targeting high thermoelectric performance either via reduction in the lattice thermal conductivity or via enhancement of the power factor. In this review, we firstly summarize the recent advances in bulk thermoelectric materials with reduced lattice thermal conductivity by nano-microstructure control and also newly discovered materials with intrinsically low lattice thermal conductivity. We then discuss ways to enhance the electron transport abilities for achieving higher power factor by both novel and traditional methods. Finally, we highlight the recent development in single-crystal thermoelectric materials. These strategies are successful in synergistically manipulating the thermal conductivity and electron transport properties, which have significantly advanced thermoelectric performance on materials. For device applications on these high-performance materials, new opportunities may arise though stability, electrode contacts, mechanical properties, and other problems need to be solved in the near future.     

A review on mechanisms and recent developments of nanomaterials based carbon fiber reinforced composites for enhanced interface performance

Carbon fiber reinforced composites have attracted lots of attention in many fields. However, on account of the poor infiltration of resin to carbon fiber, the weak interface performance between fiber and resin has been restricting the interface properties of composites. In recent progress, the review attaches more importance to the introduction of the third phase monomer, which mainly uses physical and chemical methods to assemble nanomaterials (such as carbon nanotubes, graphene, etc.) on the carbon fiber surface to modify the interface structure of the carbon fiber reinforced composites, and all of them have been demonstrated in this paper. Furthermore, the effects of introducing nanomaterials on the structure of the fiber/resin interface and the relationship between multi-scale interface structure and properties have been investigated. It can be seen that the design idea of researchers mainly uses one or more theories to improve the interface properties of carbon fiber reinforced composites, such as transition layer, chemical bonding, mechanical interlocking, infiltration, diffusion, and adsorption. In brief, this work provides some novel insights for the preparation of carbon fiber reinforced composites with excellent interlaminar shear strength.     

双自由度后坐保险机构敏感因子对比

目前国内对双自由度后坐保险机构的研究大多集中于对其动态特性的分析和仿真,对机构运动影响敏感因子的分析很少。借助计算机仿真,运用正交试验设计方法对双自由度后坐保险机构敏感因子进行分析,确定各敏感因子对机构影响程度的主次顺序以及主要敏感因子。结果表明上质量块质量对其运动特性影响最大并为主要敏感因子,然后依次是惯性簧刚度,惯性簧长度和下质量块质量的影响。     

基于PERT图的虚拟拆装过程建模

提出了使用PERT图来建立虚拟拆装过程模型的方法,根据零件之间的约束关系构造PERT图及其对应的依赖矩阵,并且能够根据它来指导虚拟拆装训练过程的实施.所提供的方法在对某设备的虚拟维修中得到了验证.     

一种支持大规模多种精度地形的实时绘制算法

为加强大规模地形数据的表现能力,通常采用地形叠加或地形编辑等方法在局部地形数据上构建更高精度的细节模型.因而如何将大规模地形数据与具有高精度的细节数据进行实时融合与绘制成为一个迫切需要解决的问题.基于Geometry Clipmap方法对这一问题开展研究,给出了一种支持大规模多种精度地形的实时绘制算法.在预处理阶段,对大规模地形数据采用clipmap结构进行组织,对细节数据使用mipmap结构进行组织;在运行阶段,重点针对clipmap更新所引起的不同种精度数据间特有的"F"形空洞进行分析和处理,使用过渡带结构对空洞区域进行修补,并对修补后的顶点进行了平滑处理.实验结果表明,该方法有效解决了"F"形空洞并支持大规模地形及细节数据的实时绘制.