Validating an object placement planner for robotic pick-and-place tasks

This paper proposes an object placement planner for a grasped object during pick-and-place tasks. The proposed planner automatically determines the pose of an object that is stably placed near a user-assigned point on the environment surface. In our proposed method, first the polygon models of both the object and the environment are clustered, with each cluster being approximated by a planar region. The position/orientation of an object placed on the environment surface can be determined by selecting a pair of clusters: one from the object and the other from the environment. We furthermore conduct several tests to determine the position/orientation of the object, namely the Convexity Test, the Contact Test and the Stability Test. We demonstrate that, by using the polygon model of the environment that is obtained by means of conversion of the point cloud, we can determine the position/orientation of an object and can thereby realize a pick-and-place task.     

PVC发泡制品用助剂--优泡剂

分析了PVC发泡制品成型加工时存在的缺陷,说明了添加优泡剂可弥补PVC发泡制品的缺陷,提高泡孔质量,介绍了优泡剂的品种和使用场合及使用量。     

酚醛胺(T-31)环氧树脂固化剂之浅谈

介绍了酚醛胺(T-31)系列环氧固化剂及原料的现状和特点,并对酚醛胺(T-31)系列环氧固化剂进行了分代,阐述了第三代酚醛胺(T-31)系列环氧固化剂的系列化、专用化、高档化。预测和展望了2005年的需求和方向。     

Preparation,characterization, and adsorption properties for metal ions of a novel chelating resin containing sulfoxide and diethylene glycol

A novel chelating resin containing sulfoxide and diethylene glycol, poly{4‐vinylbenzyl‐[2‐2‐(hydroxyethyl)ethoxyl]sulfoxide} (PVESO) was synthesized using chloromethylated polystyrene (PS‐Cl) as material. Its structure was characterized by elemental analysis, infrared spectra, and scanning electron microscopy (SEM). The adsorption capacities of the resin for Hg²⁺, Ag⁺, Cu²⁺, Zn²⁺, and Pb²⁺ at various pH values were determined. The maximum adsorption capacities for Hg²⁺ and Ag⁺ were 1.56 and 0.75 mmol g^?1 respectively. The resin had high selectivity for Hg²⁺ and Ag⁺ over the pH range 1.0–7.0. The adsorption capacities for Hg²⁺ and Ag⁺ under competitive condition were also determined by batch experiment method. In addition, the adsorption kinetics of the resin towards Hg²⁺ at different temperatures was also investigated. The results showed that the adsorption rate was governed by film diffusion at 20°C and 25°C, by particle diffusion at 30°C and 35°C. © 2006 Wiley Periodicals, Inc. J Appl Polym Sci 102: 6054–6059, 2006     

Alkaline fuel cells: contemporary advancement and limitations

ZeTek Power recently introduced mass manufacturable and cost effective alkaline fuel cells on the market. Today's research is focused on further improvement both in terms of performance increase and cost reduction. This research is classically performed using small (4 cm²) experimental electrodes in the half-cell configuration. This allows the primary electrochemical losses in an anode or cathode to be determined independently. Additional performance losses occur when one integrates large electrodes into a module of 24 cells and in a stack comprised of many modules. By comparing the performance of half-cell experiments to that of modules, these losses can be distinguished and addressed. The information thus obtained, both for the small electrodes and in up-scaling is vital if one is to identify the key areas in which improvement is possible and where to focus future research. Furthermore, the identification of the losses in a module and system allows us to predict the final performance from half-cell measurements of a new laboratory scale experimental electrode.     

Surface Preparation of Tantalum for Encapsulation and Adhesive Bonding

A number of methods of surface preparation of tantalum for encapsulation in silicone rubber and for structural adhesive bonding were explored. The only ones which could be generally useful were boiling for 24 hours in distilled water (28% improvement) or boiling for 4 hours in 20% sodium hydroxide solution followed by boiling for 2 hours in dilute hydrochloric acid (34% improvement). An alternative, which could sometimes be used, was heating in air for at least 2 hours at 100°C.     

高效液相色谱法在氟铃脲标准样品制备中的应用研究

标准样品是农残分析巾的必要条件。应用高效液相色谱法进行氟铃脲的纯化、制得氟铃脲标准样品，用DELTA PAK C18柱，以乙腈-水(68：32)为流动相，在波长254nm，室温下进行了保留值定性、定值分析、均匀性及稳定性考察，效果良好。     

快速高效隔膜压滤机在鹤壁四矿选煤厂的应用

介绍了快速高效隔膜压滤机的主要性能参数和特点 ;分析了压滤机在煤泥水处理系统中的应用情况和运行结果 ;应用快速高效隔膜压滤机对煤泥水处理系统进行改造后获得了较好的经济及社会效益     

低熔点合金填充聚合物材料断口形貌研究

研究了合金元素、加工温度、金属含量、第三组分对低熔点金属填充聚合物材料断口形貌的影响。实验结果表明:不同的合金对体系的影响很大,低分子量、低结晶性聚合物,高的成型加工温度可提高材料的相容性。     

高效防腐中温磷化液LC-1的制备及性能

制备了一种含Zn2+、Mn2+、N i2+三系离子的LC-1磷化液,通过硫酸铜点滴、氯化钠浸蚀、SEM等手段对磷化膜进行了测试,测定了磷化温度、磷化时间对膜层耐蚀性的影响。结果表明,在磷化温度大于65℃,磷化时间大于10 m in的条件下,所形成的磷化膜结晶均匀、致密、黑褐色,耐蚀性良好。LC-1三系磷化液可适用于大批量钢铁工件的磷化生产。