浅谈高炉喷吹煤粉

本文介绍了高炉喷吹煤粉的重要意义，增加喷煤量的相关技术和山东省炼铁喷煤概况。     

Effectiveness of single and coastal superposphates applied either in autumn or spring

Phosphorus (P) is known to leach laterally in water flowing during winter over pasture growing on flat soils that are shallow sands over slowly permeable lateritic ironstone gravel or clay soils in the high rainfall (> 800 mm annual average) areas of south-western Australia. The climate is Mediterranean, with hot dry December to March and cool wet April to November growing season, with excess water flowing over the surface from June to early-August. Fertilizer P is presently applied at about mid-March, near the start of the growing season. Single superphosphate has been applied for many years, which has a good residual value, and so the soils are no longer acutely P deficient. Consequently, a better method may be to apply the fertilizer at mid-August, after waterlogging and P leaching have usually receded, and radiation and temperature are rising, so pasture growth is increasing. The field experiment reported here was on a shallow sand over lateritic ironstone gravel where lateral leaching of P occurs. The experiment compared from 1990 to 1994 the effectiveness of single superphosphate (SSP), the fertilizer used at present, and coastal superphosphate (CSP), a partially acidulated rock phosphate containing about half the total P and one third the water-soluble P initially present in SSP. The fertilizers were applied annually either at mid-March or at mid-August. SSP applied at mid-March was the most effective treatment studied in the years when pasture plants had emerged before fertilizer was applied at mid-March. This is attributed to pasture plants being able to take up P from SSP applied at mid-March before leaching of P occurred, so that relative to SSP applied at mid-March, the other P fertilizer treatments (CSP applied at mid-march and mid-August, SSP applied at mid-August) were about equally or less effective. However, in years when the growing season had yet to start before fertilizer was applied at mid-March, then relative to SSP applied at mid-March, the other fertilizer treatments were equally or more effective. This is attributed to extensive leaching of P from SSP applied at mid-March, so that due to P losses from SSP applied at mid-March, the other treatments were equally or more effective. It is therefore concluded that profitable pasture production with reduced leaching is achieved by applying SSP at mid-March if soils are moist and pasture plants are growing at that time. However, if the soils are dry and no pasture plants are growing at mid-March, then CSP should be applied at mid-August.     

智能空间助老助残服务机器人人机协作导航

针对具有基本认知行为能力的行动不便老人、肢残人士、运动和语言患者这类服务对象,构建了助老助残服务机器人人机一体化导航系统。用户与机器人之间进行交互,自由切换随机行走和自主导航2种运动模式,机器人根据现场环境和作业条件的不同,实时触发人机条件响应生成规则而产生相应的行走行为,作业时人机界面同步呈现虚实结合、实时交互的智能空间,实现人机一体化感知、决策与执行。以移动作业服务机器人为对象进行室内人机一体化导航作业,验证了该人机一体化导航系统的可行性。     

无线网络系统的舰船相对组合导航定位

针对现有单舰船组合导航定位技术存在的不足,如过度依赖GPS、差的可靠性和容错性以及缺乏网络系统概念等,将无线网络系统概念引入到舰船组合导航中,从而基于海上智能交通系统（MITS）提出一种新颖的网络舰船相对组合导航定位方法。该方法不再将海上舰船视为MITS中的孤立节点,因此目标舰船可使用来自网络内其它舰船节点的导航估计并采用最优分布式加权融合来改善自身的组合导航定位估计性能。与现有的单舰船组合导航方法相比,新方法具有更好的导航估训‘精度、更好的稳定性和容错性。     

高分子量水溶性疏水缔合聚合物的合成条件研究

对合成AM/AHAC二元共聚物的引发体系进行了筛选,研究发现,用K2S2O8-DMAAM引发体系合成的聚合物相对分子量高于其它引发体系,并在此基础上进一步考察了DMAAM浓度、单体浓度、反应温度及反应时间对聚合物分子量的影响。结果表明,单体浓度为20%、K2S2O8浓度为80 mg/L,DMAAM浓度为60 mg/L,反应温度为30℃,反应时间为6 h条件下,合成的聚合物分子量较高。     

基于对偶四元数的圆锥及划船误差补偿改进算法

为提高高动态环境下的对偶四元数捷联惯性导航算法解算精度,将梯形数字积分算法应用于圆锥和划船误差补偿算法中,改进了姿态和速度解算算法,提高了对偶四元数捷联惯性导航算法的解算精度。在单个采样周期内,利用前一时刻采集的陀螺角速率信号和当前时刻采集的陀螺角速率信号,通过梯形积分方式计算角增量进行圆锥误差补偿;利用前一时刻采集的加速度计信号和当前时刻的加速度计信号,通过梯形积分方式计算速度增量并结合同一时刻的角增量进行划船误差补偿。通过设计的多组动态模拟仿真航迹验证表明,当角速率和比力作为圆锥和划船误差补偿算法输入时,梯形积分算法的精度高于传统的矩形积分算法,且航迹的动态性越高,改进算法的性能优势越显著。同时,通过动态跑车实验结果的分析对比,进一步验证了该改进算法的实用性。     

颅颌面骨畸形整复手术中辅助机器人的应用

颅颌面骨畸形整复手术由于解剖结构的复杂性和治疗目的的特殊性,必须以最小的创伤完成精确的操作,而机器人可以实现精确、稳定的三维空间运动,能避免由人手持器械不稳定造成的误差和损伤,并具有微创等优点。在已有的光学定位正颌外科导航手术技术路线基础上,提出了应用六自由度机器人实现截骨、钻孔等辅助操作的方法,并进行了实验,取得了较好的效果。     

基于GPS/DR的GPS滞后时间自适应检测算法

针对GPS输出信息的随机延迟特性,基于航位推算(DR)系统惯性器件的实时性与短时高精度,提出了航向差和速度自适应GPS滞后时间检测方法,在此基础上,对GPS和DR数据进行数据对准,提出了自适应GPS滞后时间处理算法。在GPS/DR实际系统中的应用结果表明,本算法能够准确检测出GPS的滞后时间,提高车辆的定位精度。     

网络化手势运动跟踪系统设计

设计了一种基于微机电惯性传感器的数据手套.根据惯性导航和刚体动力学原理,构建了基于微型传感器的体感网络,并通过多传感器数据的融合解算以获取运动姿态信息,实现对手指各关节运动数据的捕获.结合计算机图形技术构建三维虚拟手捕获系统进行性能对比评估,实验结果表明:所设计的系统具有良好的稳定性和适应性,能够对手运动信息进行实时有效地捕获.     

Visual Navigation for Mobile Robots: A Survey

Mobile robot vision-based navigation has been the source of countless research contributions, from the domains of both vision and control. Vision is becoming more and more common in applications such as localization, automatic map construction, autonomous navigation, path following, inspection, monitoring or risky situation detection. This survey presents those pieces of work, from the nineties until nowadays, which constitute a wide progress in visual navigation techniques for land, aerial and autonomous underwater vehicles. The paper deals with two major approaches: map-based navigation and mapless navigation. Map-based navigation has been in turn subdivided in metric map-based navigation and topological map-based navigation. Our outline to mapless navigation includes reactive techniques based on qualitative characteristics extraction, appearance-based localization, optical flow, features tracking, plane ground detection/tracking, etc... The recent concept of visual sonar has also been revised. This work is partially supported by DPI 2005-09001-C03-02 and FEDER funding.