基于元胞遗传算法的机器人路径规划研究

使用基本遗传算法进行移动机器人路径规划时,面临路径进行插入修复无法保证解的可行性,且算法易陷入局部收敛的问题;针对上述问题,通过使用元胞遗传算法增强了路径规划环境建模的通用性,并在算法适应度函数中加入路径平滑因素改善了元胞遗传算法的路径;仿真实验表明,该算法和基本遗传算法相比,机器人行驶路径的长度减少,转角绝对值之和减小,得到了距离短且平滑的路径,提高了移动机器人的行驶效率和平稳性;由于算法良好的隐性迁移机制,因此在局部优化时保持了群体的多样性,一定程度克服了算法的早熟现象,有效解决了移动机器人路径规划问题。     

三峡水库汛期“蓄清排浑”动态运用方式计算研究

在入库沙量大幅减少的背景下,三峡水库持续开展汛期中小洪水调度,增大了汛期库区泥沙淤积和防洪风险,减少了水库下泄大流量的机会。在三峡水库汛期,开展“蓄清排浑”泥沙调度方式动态运用研究有助于进一步优化三峡水库汛期调度方式。利用三峡水库干支流河道一维非恒定流数学模型,探索开展了三峡水库汛期 “蓄清排浑”动态运用方式计算研究,并提出了汛期“蓄清排浑”动态运用方案。计算结果表明:三峡水库汛期“蓄清排浑”动态运用方式可以同时兼顾排沙、发电和防洪,“蓄清”水位150 m要优于155 m,“蓄清”运行期间库水位可选择在145~150 m之间浮动运行;建议将寸滩含沙量达到2.0 kg/m³且当日寸滩站入库流量≥25 000 m³/s的时间作为水库增泄“排浑”的起始时间,将出库含沙量降至约0.1 kg/m³作为“排浑”调度结束重新进入“蓄清”调度的泥沙参考因素。研究成果可为三峡水库汛期优化调度提供参考。     

Numerical simulation of the multicomponent mass transfer during Bridgman growth of CdZnTe crystal using Maxwell-Stefan diffusion model

To reveal the complicated mechanism of the multicomponent mass transfer during the growth of ternary compound semiconductors, a numerical model based on Maxwell-Stefan equations was developed to simulate the Bridgman growth of CdZnTe crystal. The Maxwell-Stefan diffusion coefficients in the melt were estimated. Distributions of Zn, Cd, and Te were calculated with variable ampoule traveling rate and diffusion coefficients. The experimental results show that Zn in melt near the growth interface decreases and diffuses from the bulk melt to the growth interface. For Cd, the situation is just the opposite. The coupling effects of Zn and Cd diffusions result in an uphill diffusion of Te at the beginning of the growth. Throughout the growth, the concentration of Te in the melt keeps low near the growth interface but high far from the growth interface. Increasing the ampoule traveling rate will aggravate the segregation of Zn and Cd, and hence deteriorate the uniformity of Te. We also find that not only the diffusion coefficients but also the ratios between them have significant influence on the species diffusions.     

Preparation of cerium doped Cu/MIL-53(Al) catalyst and its catalytic activity in CO oxidation reaction

Metal-organic framework (MOF) material MIL-53(Al) with high thermal stability was prepared by a solvothermal method, serving as a support material of cerium doped copper catalyst (Ce-Cu)/MIL-53(Al) material for CO oxidation with high catalytic activity. The catalytic performance between the (Cu-Ce)/MIL-53(Al) and the Cu/MIL-53(Al) catalytic material was compared to understand the catalytic behavior of the catalysts. The catalysts were characterized by thermogravimetric-differential scanning calorimetry (TG-DSC), N₂ adsorption- desorption, X-ray diffraction (XRD), and transmission electron microscopy (TEM). The characterization results showed that MIL-53(Al) had good stability and high surface areas, the (Ce-Cu) nanoparticles on the MIL-53(Al) support was uniform. Therefore, the heterogeneous catalytic composite materials (Ce-Cu)/MIL-53(Al) catalyst exhibited much higher activity than that of the Cu/MIL- 53(Al) catalyst in CO oxidation test, with 100% conversion at 80 °C. The results reveal that (Cu-Ce)/MIL- 53(Al) is the suitable candidate for achieving low temperature and higher activity CO oxidation catalyst of MOFs.     

Synthesis and Characterization of Novel Biodegradable Poly (butylene succinate-co-triethylene glycol succinate)Copolymers

Novel biodegradable aliphatic polyesters,poly(butylene succinate-co-triethylene glycol succinate)(P(BS-co-TEGS))and poly(butylene succinate)(PBS),were synthesized through a two-step procedure of esterification and polycondensation with succinic acid and1,4-butanediol/triethylene glycol as raw materials as well as tetrabutyl titanate and diphenylphosphinic acid as the co-catalysts.The chemical structure and molecular weight of the copolymers were characterized by 1~H nuclear magnetic resonance(~1H NMR)and gel permeation chromatography(GPC),respectively.In addition,thermal properties,crystal structure and mechanical properties were also analyzed with various techniques.P(BS-co-TEGS)exhibited more excellent mechanical properties than PBS,especially in elongation at break.Meanwhile,the crystal structure and thermal stability of the P(BS-co-TEGS)have hardly changed.The crystallinity of P(BS-co-TEGS)was lower than that of PBS and decreased with the increase of mole ratio of triethylene glycol.With the increase of TEGS unit molar composition,the melting point(T_m),crystallization temperatures(T_c)and heat of fusion(ΔH_m)of P(BS-co-TEGS)decreased,while glass transition temperature(T_g)increased.     

Effect of Friedel’s salt on strength enhancement of stabilized chloride saline soil

Journal of Central South University - In the field of soil stabilization, only calcium silicate hydrate (CSH) and ettringite (AFt) as hydration products have been reported to directly contribute to...     

Effects of annealing processes on Cu<Subscript><Emphasis Type="Italic">x</Emphasis></Subscript>Si<Subscript>1-<Emphasis Type="Italic">x</Emphasis></Subscript> thin films

The Cu _x Si_1-x thin films have been grown by pulsed laser deposition (PLD) with in situ annealing on Si (001) and Si (111), respectively. The transformation of phase was detected by X-ray diffraction (XRD). The results showed that the as-deposited films were composed of Cu on both Si (001) and Si (111). The annealed thin films consisted of Cu + η”-Cu₃Si on Si (001) while Cu + η’-Cu₃Si on Si (111), respectively, at annealed temperature (T _a) = 300-600 °C. With the further increasing of T _a, at T _a= 700 °C, there was only one main phase, η”-Cu₃Si on Si (001) while η’-Cu₃Si on Si (111), respectively. The annealed thin films transformed from continuous dense structure to scattered-grain morphology with increasing T _a detected by field emission scanning electron microscope (FESEM). It was also showed that the grain size would enlarge with increasing annealing time (t _a).     

Corrosion mechanism and corrosion model of Mg-Y alloy in NaCl solution

Corrosion of Mg–Y alloy was studied using electrochemical evaluations, immersion tests and SEM observations. Corrosion mechanisms of Mg-(0.25 and 2.5) Y alloy and Mg-(5, 8, and 15) Y alloy were uniform corrosion and pitting corrosion respectively, and the content of Mg_(24)Y_5 phases determined its effect acting as cathode to accelerate the corrosion or corrosion barrier to inhibit the corrosion. Corrosion resistance of Mg-(0.25, 2.5, 5, 8, and 15) Y alloys was as follows: Rt(Mg-0.25Y) Rt(Mg-8Y) Rt(Mg-15Y) Rt(Mg-5Y) Rt(Mg-2.5Y). Y could significantly improve the corrosion resistance of the Mg-Y alloy, but the excess of Y deteriorated the corrosion resistance of the Mg-Y alloy. The optimum content of Y in the studied alloys was 2.5%.     

桨叶安装角度对反应器内混合特性影响的模拟分析

借助计算流体力学(Computational Fluid Dynamics,CFD)技术对桨叶安装角度为30°,45°和60°的污泥厌氧消化反应器进行数值模拟,研究结果表明:反应器内最大速度出现在搅拌桨叶末端,搅拌轴处及其两侧速度几乎为零,形成死区.湍流黏度的最大值均出现在搅拌轴上部左右两侧的区域,搅拌桨叶区域的湍流黏度较小.湍动能的最大值出现在桨叶末端附近,并向中心逐渐递减,且随着安装角度增大,湍动能的分布更加广泛和均匀,三种反应器的湍动能耗散主要集中在桨叶区和槽壁区域,安装角度越大,在桨叶区和槽壁区域的耗散就越大,不利于反应器内能量的传递.桨叶安装角度越大,其搅拌功率越小,安装角度每增加5°,功率降低约1%.     

Mixed H2/H∞ State Feedback Attitude Control of Microsatellite Based on Extended LMI Method

For the appearance of the additive perturbation of controller gain when the controller parameter has minute adjustment at the initial running stage of system,to avoid the adverse effects,this paper investigates the mixed H_2/H_∞ state feedback attitude control problem of microsatellite based on extended LMI method.Firstly,the microsatellite attitude control system is established and transformed into corresponding state space form.Then,without the equivalence restriction of the two Lyapunov variables of H_2 and H∞performance,this paper introduces additional variables to design the mixed H_2/H_∞ control method based on LMI which can also reduce the conservatives.Finally,numerical simulations are analyzed to show that the proposed method can make the satellite stable within 20 s whether there is additive perturbation of the controller gain or not.The comparative analysis of the simulation results between extended LMI method and traditional LMI method also demonstrates the effectiveness and feasibility of the proposed method in this paper.