Fault-Tolerant Formation Driving Mechanism Designed for Heterogeneous MAVs-UGVs Groups

A fault-tolerant method for stabilization and navigation of 3D heterogeneous formations is proposed in this paper. The presented Model Predictive Control (MPC) based approach enables to deploy compact formations of closely cooperating autonomous aerial and ground robots in surveillance scenarios without the necessity of a precise external localization. Instead, the proposed method relies on a top-view visual relative localization provided by the micro aerial vehicles flying above the ground robots and on a simple yet stable visual based navigation using images from an onboard monocular camera. The MPC based schema together with a fault detection and recovery mechanism provide a robust solution applicable in complex environments with static and dynamic obstacles. The core of the proposed leader-follower based formation driving method consists in a representation of the entire 3D formation as a convex hull projected along a desired path that has to be followed by the group. Such an approach provides non-collision solution and respects requirements of the direct visibility between the team members. The uninterrupted visibility is crucial for the employed top-view localization and therefore for the stabilization of the group. The proposed formation driving method and the fault recovery mechanisms are verified by simulations and hardware experiments presented in the paper.     

氮化硅基陶瓷连接技术的研究进展

陶瓷连接技术是结构陶瓷实用化的有效手段，焊料成分对连接体的性能具有决定性作用。本文主要从焊料成分选择的角度，总结了氮化硅基陶瓷连接技术的发展现状；并重点讨论了陶瓷／玻璃复合焊料在β-Sialon陶瓷连接中的应用。     

Synthesis, morphology and photophysics of novel hybrid organic-inorganic polyhedral oligomeric silsesquioxane-tethered poly(fluorenyleneethynylene)s

A series of novel hybrid organic-inorganic light-emitting materials, polyhedral oligomeric silsesquioxane-tethered poly(fluorenyleneethynylene)s, were successfully synthesized via Sonagashira coupling reaction. The chemical structures of these copolymers were determined by ¹H NMR and FT-IR spectra. The morphologies of these copolymers were studied in details using TEM and WAXD. The WAXD data showed that POSS formed aggregation instead of crystallization in the polymer matrix, indicating the significant effect of the backbone constraint on POSS crystallization. Furthermore, it also revealed that the interchain interaction weakened and the interchain distance increased after introducing POSS groups. The TEM data indicated that POSS aggregates were well dispersed in polymer matrix. In accordance with the morphological investigation, the results of UV-vis absorption and photoluminescence emission spectra of these copolymers showed that the tendency toward planar conformation of conjugated backbones reduced to a certain extent due to weakened interchain interaction. Accordingly, these copolymers exhibited the enhanced quantum yields in the solid state. In addition, owing to the thermal and oxygen stability of hybrid POSS, the thermal spectral stability of these polymers was also improved greatly.     

压力容器制造中材料代用的常见问题分析

就压力容器制造过程中常常遇到的材料代用问题进行综合分析,并阐述了相应观点。     

提高PGC302型在线气相色谱仪的分析准确度

安阳化学工业集团有限责任公司“8·13”系统自1999年初投产以来,采用了3套PGC302型气相色谱仪分别对合成循环气、新鲜气、气柜出口半水煤气进行在线分析。但从2004年1月起,循环氢色谱仪对循环气中氢含量的分析值频繁波动,其测定准确度直接影响着系统氢氮比的调节效果以及合成氨产量的高低。为确保系统高负荷稳定生产,通过对影响色谱仪分析结果的因素进行分析,找到了引起分析值波动的主要原因,实施了切实可行的解决方案,提高了循环氢色谱仪的分析准确度。1循环氢色谱仪的配置和相关参数分析仪型号PGC302;检测器热导检测器;进样、反吹、柱…     

我国石油企业海外拓展亟待实行现金统一管理

分析了我国石油企业海外资金运营管理方面存在的问题，提出了改进海外项目现金管理的几点措施。     

基于谱对称的形状配准方法

针对现有三维形状配准方法中存在左右翻转的错误匹配问题,提出了基于内蕴对称特征检测的高效形状配准算法。首先,通过热核与几何约束构建模型的内蕴自对称点对;其次,基于谱嵌入特征空间分析提取模型的内蕴对称平面,并依据模型表面法向量有效识别模型的左右结构属性;然后,根据内蕴对称点对获得模型的一致性谱对称结构描述;最后,引入一致性点漂移算法(CPD),实现基于谱对称的非刚性模型的形状配准,有效避免了模型配准中的左右结构翻转问题。实验进一步论证了这种方法不仅有效提高了模型匹配的效率,而且能有效识别同类模型的结构特征,对于非刚性模型的配准具有较强的鲁棒性。     

Structure Development of NiO–YSZ Oxide Mixtures in Simulated Citrate–Nitrate Combustion Synthesis

Yttria-stabilized zirconia (NiO/YSZ) composites were prepared by the modified citrate–nitrate combustion synthesis. The citrate–nitrate combustion proceeded through several consecutive steps. Evolution of structure in the system and its changes were followed up by thermogravimetry-differential scanning calorimetry, X-ray powder diffraction, extended X-ray absorption fine structure, and high resolution transmission electron microscopy analyses of intermediate products prepared at distinct temperatures that correspond to different stages of the combustion process. It was shown that the crystalline structure developed gradually, first with crystallization of nano-sized NiO particles (400°–700°C), which was followed by crystallization of YSZ (800°–900°C). The final composite material after heat treatment at 1100°C comprised of nano-crystals with an average size of 6.5±2 nm.     

Synthesis, structure and magnetic properties of β-MnO 2 nanorods

We present synthesis, structure and magnetic properties of structurally well-ordered single-crystalline β-MnO₂ nanorods of 50–100 nm diameter and several μm length. Thorough structural characterization shows that the basic β-MnO₂ material is covered by a thin surface layer (∼2.5 nm) of α-Mn₂O₃ phase with a reduced Mn valence that adds its own magnetic signal to the total magnetization of the β-MnO₂ nanorods. The relatively complicated temperature-dependent magnetism of the nanorods can be explained in terms of a superposition of bulk magnetic properties of spatially segregated β-MnO₂ and α-Mn₂O₃ constituent phases and the soft ferromagnetism of the thin interface layer between these two phases.     

国内外加氢石油树脂的技术进展

介绍了国内外石油树脂的生产和技术发展状况，并对加氢催化剂的最新进展了作了较详细的论述，提出了发展我国加氢石油树脂的建议。