A binary approximating method for graspable region determination of biped climbing robots

For a biped pole-climbing robot (BiPCR) with grippers, it is an essential demand to determine the target grasp configuration for climbing and transiting between poles, with the graspable region as a priori knowledge. The graspable region on the target pole is critically important for climbing path planning and motion control. To efficiently compute the graspable region for a BiPCR, we propose a novel binary approximating method in this paper. This method may also be applied to generate the three-dimensional (3-D) workspace of a manipulator with constant orientation. The grasping problem and the concept of graspable region for a BiPCR are first introduced. The binary approximating method and the corresponding algorithms are then presented to generate the graspable region. Additional constraints on a biped climbing robot with five degrees of freedom (DoFs) are presented as a supplement to the algorithm. A series of comprehensive simulations are conducted with the five-DoF and six-DoF climbing robots to verify the effectiveness of the proposed method. Finally, the dexterity of biped climbing robots with different DoFs is discussed.     

高浓度烤烟专用肥肥效试验

介绍高浓度烤烟专用肥肥效试验。结果表明：楚雄磷肥厂生产的高浓度烤烟肥，可以代替进口的同类化肥。     

发用防晒成分芦荟甙的提取

芦荟甙不仅具有防晒功效,而且还具有润泽、软化头发,防止断发、护发止痒的功效.设计正交实验,用乙醇水溶液回流溶出芦荟甙,用减压蒸馏的方法得到产品,并找出最佳反应条件.用溴水和红外光谱定性分析,证明了所得产品为芦荟甙.将芦荟甙加入洗发香波中,使用效果良好.实验方法操作简单、可行性高,为芦荟的提取研究提供数据.     

聚己二酸1,2-环己二醇酯的合成

采用正交实验方法,分别以钛酸四丁酯和对甲苯磺酸为催化剂,合成了聚己二酸1,2 环己二醇酯,对其合成工艺条件进行了研究,得出了最佳工艺条件。并以所得聚酯合成了具有透明度高、硬度大、耐磨、玻璃化温度高等优异性能的聚氨酯材料。     

Transformations of residual fertilizer P in a semi-arid tropical soil under eight-year peanut-wheat rotation

Long-term transformations of residual phosphorus (P) governs the availability of phosphorus to crops. Very limited information is available on the transformations of residual fertilizer P in semi-arid tropical soils under long-term crop rotations. Therefore, using sequential phosphorus fractionation procedure, we studied changes in labile and stable forms of inorganic and organic P in a semi-arid alluvial soil (Typic Ustisamments) after eight years of annual fertilizer P application either to one crop (alternate) or to both crops (cumulative) in a peanut (Arachis hypogaea) — wheat (Triticum aestivum) rotation.Total residual fertilizer P in soil (P recovered from P-fertilized minus control plots) ranged from 62 to 176 mg P kg^–1. In the alternate P treatments (P applied to peanut or wheat only), on an average of 3 rates of applied P (13, 26 and 39 kg P ha^–1), in surface (0–15 cm) and subsurface (15 to 30 cm) soil, respectively, residual fertilizer P consisted of 14.8 and 2.2% resin-P, 8.6 and 2.8% NaHCO₃-P, 6.3 and 0% microbial-P, 31.4 and 4.2% NaOH-P, 7.8 and 3.0% aggregate protected-P, 12.5 and 3.0% HCl-P, 3.4 and 0% H₂SO₄-P. The corresponding values for surface and subsurface soils of cumulative P treatments (P applied to both peanut and wheat) were: 12.8 and 1.6% resin-P, 6.9 and 2.3% NaHCO₃-P, 4.7 and 0% microbial-P, 32.5 and 4.2% NaOH-P, 5.6 and 2.0% aggregate protected-P, 14.8 and 3.8% HCl-P, 6.7 and 2.1% H₂SO₄-P. Considerable lower values for the 15–30 cm depth indicate only a very small movement of residual P to the subsoil.Significantly lower amount of fertilizer P (28% and 44%) found in labile (resin, NaHCO₃ and microbial P) and semi-labile (NaOH and sonicated NaOH P) fractions for the cumulative P treatment than alternate P treatment (35 and 46%, respectively) suggests that increased rates and frequency of applied P tend to enhance the conversion of residual P to stable forms which are less available to plants. About 12 to 19% of residual fertilizer P found as organic P in labile and semi-labile forms confirmed that organic P increased with long-term fertilizer management. In conclusion, the results of our study suggest that the alternate application of fertilizer P to a crop, as is shown for wheat, helps reduce the transformations of residual P to stable P forms.     

轴流压气机旋转失速建模与检测II: 基于北航低速压气机试验台的实验研究

轴流压气机旋转失速和喘振的提前检测对于提高压气机工作效率和稳定性具有重要的意义.本文以北京航空航天大学航空发动机重点实验室的低速轴流压气机实验台为研究对象,基于确定学习理论及动态模式识别方法,开展旋转失速初始扰动近似准确建模和快速检测研究.首先,在压气机机匣壁面周向布置多个动态压力传感器,获取压气机失速前和失速先兆的动态压力信号,基于确定学习理论对旋转失速初始扰动的内部系统动态进行建模;其次,基于以上建模,利用微小振动故障检测方法实现对旋转失速的离线和在线提前检测.实验结果表明,本文所提方法能够在不同转速情况下,提前0.3 s~1 s实现对旋转失速的实时在线检测.     

吸水树脂PAA／AM的合成研究

以N，N-亚甲基双丙烯酰胺（Bis）为交联剂，过硫酸钾（KPS）做引发剂，以丙烯酸（AA），丙烯酰胺（AM）为反应单体水溶液聚合法合成了适用于淡水和盐水的吸水膨胀聚合物。采用正交实验法对最佳吸水膨胀配方进行了优选：单体浓度[M]=30％；单体中和度N=75％；引发剂浓度[I]=0．15％；交联剂浓度[C]=0.011％；反应温度为75℃及反应时间3h。对PAA的吸液速率进行了测定，并讨论了它的反复吸液能力。     

超细聚苯乙烯(PS)树脂的制备工艺研究

采用O/W型苯乙烯微乳液体系,研究了乳化剂OP-10、助乳化剂DBS、交联剂DVB等对聚苯乙烯(PS)粒径分布的影响,基于正交试验,找出了量佳微乳液体系配方。采用激光粒度仪与透射电镜(TEM)对纳米PS粒子的粒径进行了测量研究,结果表明:交联PS粒子单分散性好,大小较均匀。     

水泥酸溶性的理论计算与试验研究

根据化学反应方程式计算出溶解一定质量的水泥熟料需要盐酸的摩尔数,结果发现该值明显低于测定水泥酸不溶物常用的摩尔数。根据计算结果,通过正交试验获取较佳的条件组合,提出了测定水泥活性组分的酸溶解测定方法。试验表明,测定方案可行,酸不溶物的测定结果与实际混合材掺量的偏差<0.6%。     

以开放性实验为延伸促进“液压与气压传动”课程教学质量的提升

结合《液压与气压传动》课程理论及实验教学中的体会,分析了传统教学中存在的弊端,提出了以开放性实验为延伸以促进《液压与气压传动》课程教学质量提升的意见。