面向草莓抓取的气动四叶片软体抓手研制

农林业中果蔬的自动化采摘需求日趋强烈,末端抓手是实现无损采摘的关键。传统的末端抓手以刚性结构居多,现有的各种柔性抓手也存在抓取力不足、包覆性不佳等缺点。本文以草莓的无损采摘为研究对象,提出将草莓外部轮廓曲线作为设计曲线,设计了一种新型气动四叶片软体抓手。首先,对软体抓手的结构做仿真优化,提出一种安全地附着在目标物表面的设想。然后,在进行草莓表面的最小破坏应力试验的基础上,测试了软体抓手的末端力,验证了其实现无损抓取的可行性。再次,利用动态捕捉技术,研究了软体抓手叶面的弯曲变形规律。最后,选择使用弧线型气体通道的软体抓手进行了草莓抓取测试,结果证明了气动四叶片软体抓手可以实现草莓的无损抓取,抓取成功率达90%,破损率为2%,表明所研制的四叶片软体抓手用于草莓抓取时具有良好的稳定性和实用性,可用于草莓采摘的末端执行器。本研究也可为其他易损果蔬的采摘技术提供理论基础和技术支撑。     

用于疏浚工程泥浆密度测量的电阻层析成像技术

江河湖海疏浚工程对于拓展和保障航运安全、促进生态恢复、维护/改善远海岛礁环境具有不可或缺的作用.目前,在绞吸和耙吸疏浚船上,多采用射线密度计及电磁流量计对输泥密度、产量等进行在线计量,并作为实现疏浚系统自动控制的重要参量.由于射线密度计潜在的人员健康、公共安全和环保风险,在一些国家和地区已建立了放射源的有序退出机制.电阻层析成像使用安装于管壁的电极阵列获得管道内流体的电导率分布,进而推导出管道内的泥浆密度,具有无辐射、全场测量及实时可视化的优点.电阻层析成像测量系统经过特殊设计,可适应从内陆淡水到海水的巨大电导率变化.初步测试表明,电阻层析成像测量数据与射线密度计具有良好一致性,具备了作为在线泥浆密度测量的可行性.此外,ERT可提供实时的流动成像,对于提高对疏浚管道监测能力和降低堵管概率具有重要意义.     

紫色马铃薯酒发酵工艺优化及主发酵期花青素与色泽的动态变化

以紫色马铃薯为原料，在单因素的基础上，通过响应面法对紫色马铃薯酒的发酵工艺参数进行优化。最佳发酵工艺参数为:马铃薯与面粉比1:0.6、料水比1:1 (g/mL)、α-淀粉酶添加量8.5 U/g、酒曲添加量0.45%。此工艺在28 ℃下发酵14 d，得到的紫色马铃薯酒酒精度13.5%vol，花青素含量166.34 mg/mL，酒体澄清透明呈紫红色，酸甜适中，有独特酒香，综合感官评定得分90分。测定主发酵期花青素和色泽的动态变化，分析表明，紫色马铃薯酒在发酵过程中花青素呈现先上升后下降的趋势，色度呈现先下降后趋于平缓的趋势，色调则与之相反。聚合色度和褐变指数总体均呈现逐渐上升的趋势。试验结果为工业化生产紫色马铃薯酒提供理论依据。     

含锡废液的安全处理技术研究

论述了两级沉淀法对含锡废液的处理技术,通过实验得到两级沉淀法处置含锡废液的最优条件,实现了含锡废液的安全有效快速处理.     

Nonhydrolyzable Heptose Bis- and Monophosphate Analogues Modulate Pro-inflammatory TIFA-NF-κB Signaling

d -Glycero-d -manno-heptose-1β,7-bisphosphate (HBP) and d -glycero-d -manno-heptose-1β-phosphate (H1P) are bacterial metabolites that were recently shown to stimulate inflammatory responses in host cells through the activation of the TIFA-dependent NF-κB pathway. To better understand structure-based activity in relation to this process, a family of nonhydrolyzable phosphonate analogues of HBP and H1P was synthesized. The inflammation modulation by which these molecules induce the TIFA-NF-κB signal axis was evaluated in vivo at a low-nanomolar concentration (6 nM) and compared to that of the natural metabolites. Our data showed that three phosphonate analogues had similar stimulatory activity to HBP, whereas two phosphonates antagonized HBP-induced TIFA-NF-κB signaling. These results open new horizons for the design of pro-inflammatory and innate immune modulators that could be used as vaccine adjuvant.     

A miniature triaxial apparatus for investigating the micromechanics of granular soils with in situ X-ray micro-tomography scanning

The development of a miniature triaxial apparatus is presented. In conjunction with an X-ray micro-tomography (termed as X-ray μCT hereafter) facility and advanced image processing techniques, this apparatus can be used for in situ investigation of the micro-scale mechanical behavior of granular soils under shear. The apparatus allows for triaxial testing of a miniature dry sample with a size of \mathrm{8}\hspace{0.17em}\mathrm{mm}\times \mathrm{16}\hspace{0.17em}\mathrm{mm} (diameter \times height). In situ triaxial testing of a 0.4–0.8 mm Leighton Buzzard sand (LBS) under a constant confining pressure of 500 kPa is presented. The evolutions of local porosities (i.e., the porosities of regions associated with individual particles), particle kinematics (i.e., particle translation and particle rotation) of the sample during the shear are quantitatively studied using image processing and analysis techniques. Meanwhile, a novel method is presented to quantify the volumetric strain distribution of the sample based on the results of local porosities and particle tracking. It is found that the sample, with nearly homogenous initial local porosities, starts to exhibit obvious inhomogeneity of local porosities and localization of particle kinematics and volumetric strain around the peak of deviatoric stress. In the post-peak shear stage, large local porosities and volumetric dilation mainly occur in a localized band. The developed triaxial apparatus, in its combined use of X-ray μCT imaging techniques, is a powerful tool to investigate the micro-scale mechanical behavior of granular soils.     

新型计量斗在锰粉料制块配料中的改进应用

锰粉料制块是解决铁合金冶炼精料入炉的主要途径之一,生产过程中为解决锰粉料粘附计量斗的问题,介绍了一种新型计量斗,阐述他的结构特点和工作原理,实施改进后下料流畅,降低了劳动强度,提高了生产效率。     

豫西雷门沟钼矿水文地质条件分析及涌水量预测

豫西熊耳山雷门沟钼矿床位于东秦岭多金属成矿带东段,是已探明的超大型斑岩型钼矿,前人研究程度高、地质成果丰硕,但对矿床开采技术条件方面研究较少。本次通过地质调查工程、水文地质试验等方法,从水文地质角度,对雷门沟钼矿床水文地质条件进行研究,填补了该方面的空白,丰富了研究成果；采用水文地质比拟法预测未来矿坑最大排水量2613 m³/d,经实践检验结果较为可靠；总结的采坑排水量预测方法、含水层特点、矿床充水因素以及防治水措施,以期对该区域水文地质工作具有参考价值。     

浅谈客运机车走行部风险调研及对策

针对机车走行部关键部位存在的风险及日常机车运用和检修存在的问题,进行了调查分析并提出预防对策,保证了机车走行部的运行安全。