Dynamics and workspace analysis of a multi-robot collaborative towing system with floating base

Journal of Mechanical Science and Technology - A multi-robot collaborative towing system fixed on floating base for high load marine work was established in this paper, and its dynamics and...     

Robot learning through task identification

The operation of an autonomous mobile robot in a semi-structured environment is a complex, usually non-linear and partly unpredictable process. Lacking a theory of robot–environment interaction that allows the design of robot control code based on theoretical analysis, roboticists still have to resort to trial-and-error methods in mobile robotics.The RobotMODIC project aims to develop a theoretical understanding of a robot’s interaction with its environment, and uses system identification techniques to identify the system robot–task–environment. In this paper, we present two practical examples of the RobotMODIC process: mobile robot self-localisation and mobile robot training to achieve door traversal.In both examples, a transparent mathematical function is obtained that maps inputs–sensory perception in both cases–to output — location and steering velocity respectively. Analysis of the obtained models reveals further information about the way in which a task is achieved, the relevance of individual sensors, possible ways of obtaining more parsimonious models, etc.     

鄂尔多斯盆地三叠系延长组层序地层与生储盖组合特征

鄂尔多斯盆地三叠系延长组地层层序划分方案较多。在V ail经典层序地层学理论指导下,综合利用露头、岩芯、钻井、地震和古生物等资料,通过古水深分析和层序界面的识别与划分,认为将鄂尔多斯盆地三叠系延长组划分为7个三级层序更为合理,指出层序4水进体系域(生)+层序5低位体系域(储)+层序5水进体系域(盖)和层序4水进体系域(生)+层序4低位体系域(储)+层序4水进体系域(盖)是相对较佳的2套生储盖组合,并指出了鄂尔多斯盆地延长组最主要的2套生储盖勘探目的层。     

塔河油田成藏期次的地球化学示踪研究

应用油藏地球化学的方法对塔河油田的成藏期次进行了探讨。塔河油田稠油正构烷烃分布完整,但色谱基线不同程度抬升;原油非烃和沥青质碳同位素偏轻,族组成碳同位素发生倒转;原油中普遍含有25-降藿烷。这些特征表明该区油藏经历了至少两期成藏过程,早期充注原油遭受生物降解作用后又受到高成熟原油充注。塔河油田天然气为典型的油型气,成熟度较高,为成熟—过成熟阶段产物,亦显示了两期充注的特征:早期充注的为典型的原油伴生气,充注时间与后期原油的充注时间相同;晚期充注的为高温裂解气,充注方向为自东向西。因此,塔河油田至少存在着3次油气充注过程。      

同沉积压扭断层在柴达木盆地西部南区油气成藏中的意义

柴达木盆地西部南区逆断层断面产状呈上陡下缓的铲式特征,生长系数变化在1.3~2.5之间,断距纵向上向浅层逐渐变小和横向上向一个方向逐渐增大,总体表现为典型的同沉积压扭断层。指出该断层演化主要经历了同生冲断期、褶皱发育期、平静期及二次活动期4个阶段,长期活动的NWW向主干断层除控制构造带的展布格局外,还控制着烃源岩、储集层、盖层及其组合的空间发育,同时还有效地沟通着源岩与圈闭并成为有效输导体系的一部分,近N S向展布的次级断层决定着局部构造的发育特点,与NWW向断层联合控制着油气的局部富集。     

射频电缆组件组装工艺浅谈

近年来国内外射频电缆组件的发展很快,射频电缆组件的性能不断提高,对射频电缆组件组装工艺也提出了更高的要求.射频电缆组件组装过程多是手工操作,产品的一致性及性能很难控制,要求有良好的工艺保证,为此介绍了射频电缆组件组装工艺,包括电缆的裁剪及剥皮、内导体的连接、外导体的连接和电气性能的测试;探讨了在组装过程中应注意的问题,以及针对内导体焊接易出现虚焊问题进行研究.     

Synthesis and characterization of Pd–ZSM-23 with Na and H form for catalytic hydrodehalogenation of bromobenzene

Ion-exchanged Pd–ZSM-23 (1 wt% Pd) with Na form and H form was well characterized and examined in the hydrodehalogenation of bromobenzene. TPR and XPS results suggested that Pd species dispersed in the different location of ZSM-23. Catalytic test was successfully carried out in mild conditions, using hydrazine hydrate as the hydrogen donor, and no by-products were detected. Recycling test of Pd–NaZSM-23 showed that the catalytic performance did not decrease remarkably until four recycle runs.     

Entropy generation and thermodynamic optimization of fully developed laminar convection in a helical coil

The present paper analyses the entropy generation of the fully developed laminar convection in a helical coil with constant wall heat flux and presents the optimal design based on the minimum entropy generation principal. The important design parameters, including Reynolds number (Re), coil-to-tube radius ratio (δ) and nondimensional coil pitch (λ) are varied to investigate their influences on the entropy generation. The results presented in this paper cover Re range of 100–10,000, δ and λ range from 0.01 to 0.3. Compared with Re and δ, the coil pitch λ is found to have minor influence on the entropy generation. For a demonstrated case, the minimum entropy generation occurs in the range bounded by Re from 2271 to 4277 and δ from 0.17 to 0.3, within which the irreversibility of the system is lowest and the system performance would be optimum. The details show that there is an optimal Re for a helical coil with a fixed δ; meanwhile for a helical coil flow with a specified Re, the smaller δ should be selected when the Re is larger than 5000, and the larger δ should be selected when the Re is less than 5000. These results provide worthwhile information for heat exchanger designers to find the optimal helical coil design from the viewpoint of the thermodynamic second law.