利用虚拟传感器的巡视器机械臂碰撞检测算法

为提高传统AABB树碰撞检测的精度和效率,提出一种基于虚拟传感器的月面巡视器机械臂碰撞检测算法.建立月面巡视器机械臂的逆运动学解算模型;对地面环境点云数据进行Delaunay三角化,采用多叉树代替二叉树作为AABB树储存环境点云三角面集;利用虚拟传感器简化巡视器机械臂结构模型,通过虚拟传感器遍历AABB树中的环境点云三角面集进行碰撞检测,避免机械臂与环境发生干涉.月面巡视器就位探测任务内场实验表明:基于虚拟传感器的月面巡视器碰撞检测算法使碰撞检测精度在1 mm内,碰撞检测时间降低至10 s内.基于虚拟传感器的碰撞检测算法具有高效性和可行性.     

共存阴离子对核酸阻锈剂在模拟混凝土孔溶液中钢筋阻锈作用的影响

将一种含有长度在20～80个碱基的各种引物的混合溶液溶解在核酸缓冲液中作为核酸阻锈剂,通过线性极化和电化学阻抗谱(EIS)两种电化学手段分别研究共存阴离子HCO_3~-和SO_4~(2-)对核酸阻锈剂在模拟混凝土孔溶液中对钢筋氯盐腐蚀的影响。利用X射线光电子能谱(XPS)分析了在有共存阴离子存在的模拟混凝土孔溶液中钢筋电极在核酸阻锈剂作用下表面膜的组成结构。结果表明:核酸阻锈剂具有良好的钢筋防腐蚀效果,共存阴离子HCO_3~-的存在使钢筋的腐蚀速率加快,但核酸的加入能明显减弱钢筋腐蚀倾向,具有和商用阻锈剂(主要成分为磷酸钠)基本相同的阻锈效率;共存阴离子SO_4~(2-)的存在加快了钢筋的腐蚀速率,且SO_4~(2-)的浓度较低时核酸阻锈剂的阻锈效率已经超过了同等条件下的商用阻锈剂。     

免标记DNA电化学传感器测定凝血酶

研制了一种基于介孔二氧化硅负载纳米金和适体DNA的免标记电化学传感器,用于检测凝血酶的含量。实验中先用三甲基氯硅烷(TMCS)封闭介孔二氧化硅(MPS)前驱体外壁硅羟基的活性,煅烧除去模板剂后,再用氨基丙基三乙氧基硅烷(APTS)与孔道内壁硅羟基反应,接枝氨基,最后得到内壁修饰氨基的介孔硅材料(APTS-TMCS-MPS)。金纳米粒子(GNPs)通过与APTS-TMCS-MPS氨基的静电作用力组装到介孔孔道内,然后和巯基修饰的适体DNA通过金硫键相结合,制得免标记探针(DNA/GNPs/APTSTMCS-MPS)。将探针修饰在玻碳电极表面,制得免标记DNA电化学传感器。将该传感器与含有凝血酶的待测液温育反应后,凝血酶和固定在介孔内的适体DNA发生特异性反应,形成位阻较大的适体DNA和凝血酶的复合物,从而增加了介孔孔道内的空间位阻,导致电流响应信号降低。随着凝血酶浓度的增加,孔道内部的位阻也随之增加。根据形成的复合物对电子转移和响应电流的阻碍,可以实现对凝血酶的免标记测定。实验结果表明,APTS-TMCS-MPS介孔孔道内的GNPs,可以提高孔道内电子的传递效率。在优化的实验条件下,该免标记DNA电化学传感器对凝血酶的检测线性范围是1.0×10-8~1.0×10-6 mol·L-1,检测限是7.5×10-9 mol·L-1(3σ)。     

Effects of Al and Sn on electrochemical properties of Mg-6%Al-1%Sn （mass fraction） magnesium alloy as anode in 3.5%NaCl solution

Mg-6%Al-1%Sn（mass fraction） alloy is a newly developed anode material for seawater activated batteries. The electrochemical properties of Mg-1%Sn, Mg-6%Al and Mg-6%Al-1%Sn alloys are measured by galvanostatic and potentiodynamic tests. Scanning electron microscopy（SEM） with energy dispersive spectrometry（EDS） is used to characterize the microstructures of the experimental alloys. The results show that the Mg-6%Al-1%Sn alloy obtains more negative discharge potential（-1.38 V（vs SCE）） in hot-rolled condition. This is attributed to the fine dynamically recrystallized grains during the hot rolling process. After the experimental alloys are annealed at 473 K for 1 h, the discharge potentials of Mg-6%Al-1%Sn alloy are more negative than those of Mg-6%Al alloy under different current densities. After annealing at 673 K, the discharge potentials of Mg-6%Al-1%Sn alloy become more positive than those of Mg-6%Al alloy. Such phenomenon is due to the coarse grains and the second phase Mg2 Sn. The discharge potentials of Mg-1%Sn shift positively obviously in the discharge process compared with Mg-6%Al-1%Sn alloy. This is due to the corrosion products pasting on the discharge surface, which leads to anode polarization.     

NH_4Cl薄层液膜下X70钢腐蚀的电化学研究

采用电化学阻抗法和阴极极化曲线法研究了X70钢在含NH4Cl薄层液膜下的电化学行为.研究了液膜厚度、NH4Cl浓度对X70钢腐蚀行为的影响.结果表明,液膜厚度降低,X70钢腐蚀电位正移,阴极极限扩散电流增大.液膜厚度为130μm时,阴极极限扩散电流达最大值.液膜厚度为130~100μm时,阴极极限扩散电流反而降低.液膜厚度进一步减薄,阴极极限扩散电流又增大.薄层液膜下,NH4Cl浓度增大,阴极极限扩散电流减小,抑制了阴极过程;随着NH4Cl浓度增大,X70钢腐蚀的电荷传递电阻减小,对阳极过程有一定的促进作用,从而加速X70钢的腐蚀速率.     

AZ91D镁合金表面环保型钙系磷化膜的制备及其耐蚀性

采用化学转化处理的方法,在AZ91D镁合金的表面制备了均匀致密的钙系磷化膜,其中磷化液配方中不含铬、氟及亚硝酸盐等对环境有害的离子。通过场发射扫描电子显微镜和X射线衍射仪研究了磷化时间及温度对磷化膜结构和相组成的影响。结果表明:磷化时间为20min,磷化温度为40℃时,所得到的磷化膜的致密性和均匀性较好。与空白基体相比,经磷化处理后的镁合金在3.5%NaCl溶液中的耐腐蚀性能明显提高。     

5Cr套管钢在不同CO2分压下高温高压腐蚀特性研究

为了研究5Cr套管钢在不同CO₂分压下的腐蚀特性,进行了5Cr套管钢高温高压腐蚀失重和高温高压电化学试验,并采用XRD、SEM和EDS等手段对其腐蚀产物进行微观分析。结果表明,在高温高压腐蚀环境下随着CO₂分压从低到高,其表面点蚀坑的深度和直径均无明显变化,而点蚀速率则出现逐渐减小的趋势;其腐蚀产物膜由Cr(OH)₃、FeCO₃和CaCO₃共同组成,且随着CO₂分压的升高Cr的富集量逐渐增加;在电化学测试中,随着CO₂分压的不断升高,5Cr套管钢表现出半钝化特征,产物膜逐渐增厚且致密,且极化电阻逐渐增大,阳极反应受到抑制,电化学反应阻力增大,其抗局部腐蚀能力不断提高。     

MWCNTs reinforced conductive,self-healing polyvinyl alcohol/carboxymethyl chitosan/oxidized sodium alginate hydrogel as the strain sensor

The preparation and application of hydrogel has been a hot research field in recent years. Here in, a composite hydrogel based on poly(vinyl alcohol) (PVA), carboxymethyl chitosan (CMCS), oxidized sodium alginate (OSA), and oxidized multiwall carbon nanotubes (OMWCNTs) was successfully prepared. Hydrogen and imine bonds of the hydrogel endowed the composite hydrogel with self-healing property and pH sensitivity. The fracture strength of the hydrogel was enhanced to about 0.8 MPa with the help of OMWCNTs, which was about 2.5 times compared with the one without OMWCNTs. Meanwhile, a new conductive network inside the hydrogel was constructed by OMWCNTs, which improved the conductivity of the hydrogel from 1.75 × 10⁻⁴ to 7.02 × 10⁻⁴ S/cm. The sensing test of the hydrogel showed that it could produce profound feedback signals for the deformation caused by external force and response to human body movements, such as finger bending, swallowing, and speaking.     

Effect of electric field on storage modulus of dielectric composites

DCs composed by dielectric particles and elastomer matrix present electric field dependent deformation. Viscoelasticity dominates their electric field response, which has to be considered in their applications. Although the influence of strain amplitude and oscillation frequency on the viscoelasticity of DCs has been investigated, the effect of electric field has been seldom studied. In this study, DCs were prepared by dispersing TiO₂ particles with different concentrations and different distributions within silicone rubbers. The areal strain and the storage modulus of the DCs under different electric fields were tested. The results indicated the electric field has significant influence on the storage modulus of the DCs. Such an electric field dependent storage modulus is more significant for the DCs with higher particle fraction, or with aligned distributed particles. The enhanced electrostatic interaction between the adjacent particles by applying electric field is responsible for the phenomena.     

Using a conductive sphere as a probe to characterize the sensitivity of soft piezoresistive films

Flexible piezoresistive films, such as, carbon black/polydimethylsiloxane (C-PDMS) composites, are often used as skin analogs and integrated into complex array sensors for tactile sensing. The uniformity of the sensor characteristics heavily depends on the homogeneity of the composite. Therefore, the ability to locally characterize a film that will be integrated into a complex force sensor could be critical. Here, a method to characterize the local sensitivity of flexible piezoresistive films is presented. Using a conductive sphere, which was chosen over a flat probe to eliminate misalignment issues, the surface of a thin film composite is indented to characterize the change in resistivity in terms of average strain. Experiments were performed with 15 and 18 wt% carbon black C-PDMS films of varying thickness. The contact radius of the probe with the piezoresistive film was estimated using the Johnson-Roberts-Kendall contact theory. Theoretical contact area estimates were found to agree with contact radius measurements carried out using optically transparent PDMS films observed through an optical microscope. Results show that C-PDMS with 15 wt% carbon black exhibit a higher rate if change of resistivity and gauge factor than films of same thickness with 18 wt% carbon black. On the other hand, thicker films exhibit higher gauge factors for the two tested carbon black contents. Tests carried out at multiple locations yielded consistent sensitivity values, making these types of composites suitable for array type force sensors.