Research on Circular Area Search algorithm of multi-robot service based on SOA cloud platform

Considering autonomous mobile robots with a variety of specific functions as a kind of service, when there are many types and quantities of services and the density of regional services is large, proposing an algorithm of Circular Area Search (CAS) because of the problem of multi-robot service scheduling in various areas. Firstly, Django is used as the web framework to build the Service-Oriented Architecture (SOA) multi-robot service cloud platform, which is the basic platform for multi-service combination. Then, the service type, the latitude and longitude and the scoring parameters of the service are selected as the service search metrics to design the CAS algorithm that based on the existing service information registered in MySQL and the Gaode Map for screening optimal service, and then providing the service applicant with the best service. Finally, the service applicant applies for the self-driving tour service as an example to perform performance simulation test on the proposed CAS algorithm. The results show that the CAS algorithm of the multi-robot service cloud platform proposed in this paper is practical compared to the global search. And compared with the Greedy Algorithm experiment, the service search time is reduced about 58% compared with the Greedy Algorithm, which verifies the efficiency of CAS algorithm.     

Transformation of the reabsorption characteristics of lignite treated by low and high temperature drying process

Abstract

The reabsorption characteristics of the lignite treated by low and high temperature drying process were addressed in the paper. The information about the moisture form, functional groups, effective water-filled porosities and equilibrium moisture content of the lignite before and after the drying process was investigated using Differential scanning calorimetry (DSC), Fourier transform infrared (FTIR) spectroscopy, nuclear magnetic resonance (NMR) spectroscopy and a self-made reabsorption device, respectively. The results show that the low drying temperature (140, 190, 230?°C, 10?min, N₂) has little impact on the effective water-filled porosities of the resulted samples, whereas it has a great influence on the main oxygen-containing functional groups, which amount firstly decreases and then increases with the drying temperature increasing. In the case of the lignite samples dried under high-temperature (600, 700, 800?°C, 30?s, N₂), the amount of the effective water-filled porosity of the sample decreases and the amount of oxygen-containing functional groups increases as the temperature increasing. The reabsorption capability of the high temperature dried sample is much lower than that of the sample treated under low drying temperature. The reabsorption characteristics of the low-temperature dried samples are affected by the amount of the oxygen-containing functional groups, while the effective water-filled porosity is main factor for the lignite samples derived from high temperature drying process. Moreover, the work gives a good evidence that the high-temperature drying process is an effective choose for lignite upgrading.     

Mechanism of methanol decomposition on the Pd/WC(0001) surface unveiled by first-principles calculations

In this study, the decomposition of methanol into the CO and H species on the Pd/tungsten carbide (WC)(0001) surface is systematically investigated using periodic density functional theory (DFT) calculations. The possible reaction pathways and intermediates are determined. The results reveal that saturated molecules, i.e., methanol and formaldehyde, adsorb weakly on the Pd/ WC(0001) surface. Both CO and H prefer three-fold sites, with adsorption energies of −1.51 and −2.67 eV, respectively. On the other hand, CH₃O stably binds at three-fold and bridge sites, with an adsorption energy of −2.58 eV. However, most of the other intermediates tend to adsorb to the surface with the carbon and oxygen atoms in their sp³ and hydroxyl-like configurations, respectively. Hence, the C atom of CH₂OH preferentially attaches to the top sites, CHOH and CH₂O adsorb at the bridge sites, while COH and CHO occupy the three-fold sites. The DFT calculations indicate that the rupture of the initial C–H bond promotes the decomposition of CH₃OH and CH₂OH, whereas in the case of CHOH, O–H bond scission is favored over the C–H bond rupture. Thus, the most probable methanol decomposition pathway on the Pd/WC(0001) surface is CH₃OH → CH₂OH → trans-CHOH → CHO → CO. The present study demonstrates that the synergistic effect of WC (as carrier) and Pd (as catalyst) alters the CH₃OH decomposition pathway and reduces the noble metal utilization.     

A model for semiconductor quantum dot molecule based on the current spin density functional theory

Based on the current spin density functional theory, a theoretical model of three vertically aligned semiconductor quantum dots is proposed and numerically studied. This quantum dot molecule (QDM) model is treated with realistic hard-wall confinement potential and external magnetic field in three-dimensional setting. Using the effective-mass approximation with band nonparabolicity, the many-body Hamiltonian results in a cubic eigenvalue problem from a finite difference discretization. A self-consistent algorithm for solving the Schrödinger-Poisson system by using the Jacobi-Davidson method and GMRES is given to illustrate the Kohn-Sham orbitals and energies of six electrons in the molecule with some magnetic fields. It is shown that the six electrons residing in the central dot at zero magnetic field can be changed to such that each dot contains two electrons with some feasible magnetic field. The Förster-Dexter resonant energy transfer may therefore be generated by two individual QDMs. This may motivate a new paradigm of Fermionic qubits for quantum computing in solid-state systems.     

Exchange-correlation errors at harmonic and anharmonic orders: the case of bulk Cu

As an aid towards improving the treatment of exchange and correlation effects in electronic structure calculations, it is desirable to have a clear picture of the errors introduced by currently popular approximate exchange-correlation functionals. We have performed ab initio density functional theory and density functional perturbation theory calculations to investigate the thermal properties of bulk Cu, using both the local density approximation (LDA) and the generalized gradient approximation (GGA). Thermal effects are treated within the quasiharmonic approximation. We find that the LDA and GGA errors for anharmonic quantities are an order of magnitude smaller than for harmonic quantities; we argue that this might be a general feature. We also obtain much closer agreement with experiment than earlier, more approximate calculations.     

油井参数对超声透射系数的影响

为了研究油井各参数对超声波透射系数的影响，根据超声波在媒质中的波函数和边界条件，求出了油井中超声波的透射系数。当井液和水泥层的声速和密度增大时，超声波的透射系数也随之增大，但变化幅度不大，特别是水泥层密度对超声波的透射系数影响很小；当岩层的声速增大时，超声波的透射系数会出现一个极大值；岩层密度对超声波的透射系数影响较大，且随岩层密度的增大超声波的透射系数随之降低。     

Estimation of the Longitudinal Dispersion Coefficient Using the Velocity Profile in Natural Streams

In this study, a theoretical method for predicting the longitudinal dispersion coefficient is developed based on the transverse velocity distribution in natural streams. Equations of the transverse velocity profile for irregular cross sections of the natural streams are analyzed. Among the velocity profile equations tested in this study, the beta distribution equation, which is a probability density function, is considered to be the most appropriate model for explaining the complex behavior of the transverse velocity structure of irregular natural streams. The new equation for the longitudinal dispersion coefficient that is based on the beta function for the transverse velocity profile is developed. A comparison of the proposed equation with existing equations and the observed longitudinal dispersion coefficient reveals that the proposed equation shows better agreement with the observed data compared to other existing equations.     

Spin probe study of semi‐interpenetrating polymer networks based on polyurethane and polymethacrylate functional prepolymers

The motional transition and heterogeneity of semi‐interpenetrating networks (SIPNs) based on polyurethane (PU) with carboxylic groups and methacrylic copolymer (PM) with tertiary amine groups were studied by the electron spin resonance (ESR) spin probe method. The concentration of functional groups in both prepolymers varied from 0 to 0.45 mmol g^?1. Spin‐probed SIPNs show that the temperature‐dependent spectra are sensitive to polymer interactions imposed by functional groups. These interactions determine the free volume distribution in the matrix and temperature at which motional transition takes place. The fraction of free volume increases with functional group concentration and reaches its maximum at 0.25 mmol g^?1. Further increases in the functional group concentration reduce the free volume. The results of the networks with strong interactions are discussed in terms of the interference of the plasticizing effect of the PU component and the formation of possible cluster cross‐links, which restricts segmental motions. Copyright © 2003 Society of Chemical Industry     

地下商场空调设计问题的探讨

本文分析了地下商场的特征 ,并相应提出了地下商场通风空调设计的有关数据、方法及注意事项     

三圆弧形叶片型线理论及其泵的性能测试

介绍了三圆弧形叶片型线理论，叙述了采用该理论制造的150XA—520泵的叶轮、测量方法及结果。