Anticipating Degradation in State Estimation Accuracy via Online Nonlinear Observability Analysis

A methodology is proposed to enable real-time evaluation of the observability of local motions, and generate a local observability cost map to enable informed local motion planning in order to avoid potential degradation or degeneracy in state estimator performance. The proposed approach leverages efficient numerical techniques in nonlinear observability analysis and motion primitive-based planning technique to realize the local observability prediction with real-time performance. The degradation of the state estimation performance can be readily predicted with the local observability evaluation result. The proposed approach is specialized to a representative optimization-based monocular visual-inertial state estimation formulation and evaluated through simulation and experiments. The experimental results demonstrated the ability of the proposed methodology to correctly anticipate the potential state estimation degradation.     

Simulation of Fatigue Stiffness Degradation in Prestressed Concrete Beams under Cyclic Loading

In order to investigate and research the fatigue cracking of prestressed concrete fatigue properties and loading and stiffness degeneration process,cyclic loading tests were carried out on six prestressed concrete beams and the stiffness degradation under fatigue was investigated. A simulation model of stiffness degradation is proposed based on the stiffness analysis of the fatigue-damaged section. The elastic modulus of damaged concrete and the effective residual area of steel were introduced as well as an adjusted three-stage concrete fatigue damage evolution model. The strip method was used to analyze concrete damage due to changing stress along the depth of the beam section. The simulation and test results were compared and a method of predicting fatigue deflection was presented based on the simulation model. The predicted results were compared with that of the neural network method. It is in good agreement for the simulation results with the test results. It is only less than 5% error for the simulation model which can reveal the two-stage degradation of prestressed concrete beams under cyclic loading. It is more precise for the simulation prediction method under proper conditions.     

生物慢滤系统对再生水中氮磷降解的试验研究

利用生物慢滤系统中菌-藻共生的特点,对用于景观补水的再生水中氮磷进行有效的去除,可有效预防由于再生水中氮磷营养盐浓度较高而引发的景观水体富营养化问题。通过生物慢滤系统净化再生水的试验研究表明,生物慢滤系统在保持上覆水深为80cm、滤层厚度为80cm、滤速为0.1m/h的条件下,对水体中总氮、氨氮、硝酸盐氮、总磷和高锰酸盐指数平均去除率分别为57.55%、50.16%、46.37%、66.32%和47.04%,叶绿素a的去除率可达95.75%;经生物慢滤系统处理后的再生水在景观储存过程中藻类的生长缓慢,叶绿素a含量始终维持在较低水平,氮磷含量较低且趋于稳定。经生物慢滤池处理的再生水用于景观水体的补充水源,可减少富营养化的发生频率。     

Fe3O4-H2O2类Fenton体系催化降解苯酚

为提出基于新型磁纳米Fe3 O4催化剂的类Fenton体系,采用化学共沉淀法制备磁纳米Fe3 O4,用四甲基氢氧化铵（ TMAH）对所制备的磁纳米Fe3 O4进行表面改性,就Fe3 O4－H2 O2类Fenton体系对苯酚废水的处理效果进行探讨,考察催化剂投量、H2 O2浓度、pH、反应时间等因素对COD和挥发酚去除率的影响．结果表明：磁纳米颗粒平均粒径为30 nm,并在20～100 nm内呈现良好的粒度分布．不同剂量TMAH包覆的3种催化剂经超声预处理后,在室温（13℃）下对50 mg／L苯酚（相当于112 mg／L COD）的降解效果基本一致．当催化剂投量为0．8 mmol／L、H2 O2浓度为2．0 mmol／L、pH为4．5、反应时间180 min时,COD去除率最高可达72％;催化剂投量为0．4 mmol／L、H2 O2浓度为2．0 mmol／L、 pH为4．5、反应时间为90 min时,挥发酚的去除率接近100％．而在重复使用方面,3＃Fe3O4－TMAH（2 mL）催化剂的回用性最好,4次反应COD的去除率分别为73％、29％、28％、26％,挥发酚去除率分别为100％、84％、67％、54％．该类Fenton体系具有不产生多余泥量的优点,且磁纳米催化剂在外磁场作用下可实现快速分离回收．     

介质阻挡放电反应器降解邻二甲苯的特性研究

采用介质阻挡放电(DBD)降解常压下流动态的邻二甲苯模拟废气,系统地考察了放电极值电压,气体的初始质量浓度、停留时间以及相对湿度等工艺参数对邻二甲苯降解的影响,并初步探讨了邻二甲苯的降解产物.实验研究结果表明:在7.0kV的放电极间电压下,邻二甲苯的初始质量浓度为1 500mg/m3,停留时间为9s,其去除率可达到80%以上.降解产物主要为CO2、H2O以及苯甲酸、苯乙酸、苯乙醛等有机物,并且经降解后产物的生物可生化性得到提高,因而为后续的等离子-生物法联合处理VOCs提供了依据.     

锈蚀混凝土梁承载力退化的试验研究

通过试验研究了锈蚀混凝土梁承载力的退化.试验中,共浇铸和试验了58个梁以调查钢筋锈蚀程度、锈蚀电流密度、水灰比和保护层厚度对梁承载力退化的影响.结果表明:当纵向裂缝宽度小于0.01mm时,梁承载力有较小程度的提高,但当纵向裂缝宽度大于0.01mm时,梁承载力随着纵向裂缝宽度的增大而减小.梁承载力退化速率随着锈蚀电流密度和保护层厚度的增大而减小,但随着水灰比的增大而增大.     

纳豆菌对景观水和污水的净水作用

分别采用固体培养法和液体培养法培养纳豆菌,将其投加到水样中,通过分析水样中氨氮、硝酸盐氮、亚硝酸盐氮,以及CODM n和UV254的变化情况,研究了纳豆菌对景观水和自配污水的净化效果.实验结果表明,纳豆菌对景观水中亚硝酸盐氮的去除率可达86%,对硝酸盐氮的去除率达35%,由于景观水中有机物含量比较低,纳豆菌有机物降解作用不明显;对有机物含量很高的自配污水,纳豆菌能有效的降解水中有机物,CODM n去除率达51%,同时为反硝化作用提供能量,使硝酸盐氮的去除率达34%.     

2-（4-氯苯氨基）甲基苯酚降解的动力学研究

采用高效液相色谱技术,开展了Fenton试剂对2-（4-氯苯氨基）甲基苯酚（CMP）的氧化降解动力学的研究。考察了初始双氧水摩尔浓度、亚铁离子摩尔浓度和温度等因素对CMP降解速率的影响,结果表明,当双氧水摩尔浓度、亚铁离子摩尔浓度增大和温度升高时,CMP的氧化速率明显加快。在30~45℃的温度范围内,其氧化降解符合假一级反应动力学模型,反应的表观活化能Ea为102.90kJ/mol。     

C／T iO 2复合材料的制备及光催化性能的研究

采用溶胶-凝胶法制得了C/TiO2复合光催化剂,并采用X射线衍射（XRD）﹑扫描电子显微镜（ SEM ）﹑紫外光谱等方法对复合材料进行了表征。以1-萘胺-4-偶氮对苯磺酸为模型化合物评价了C/TiO2复合材料的光催化性能,考察了降解时间、初始浓度和催化剂投加量等因素对降解率的影响。研究表明,在1-萘胺-4-偶氮对苯磺酸初始浓度为2×10-5 mol/L,催化剂投加量为1．0 g/L时,光催化反应5 h后,1-萘胺-4-偶氮对苯磺酸的降解率达到85．41％。     

Mechanochemical tuning of molecular weight distribution of styrene homopolymers as postpolymerization modification in solvent-free solid-state

Mechanochemical degradation by planetary ball milling (PM) is used for postpolymerization modification of styrene homopolymers (PS). A complete factorial design was chosen to study the effect of radical scavengers, milling time, initial molecular weight, and revolution radius (R_p), on the shape of molecular weight distributions (MWDs) of PS. Size-exclusion chromatography analysis shows the feasibility of fine-tuning MWD of PS at up to 40% conversion. Distributions ranged from unimodal to bimodal in a PM with R_p = 150 mm at different stage of milling, whereas in a PM with R_p of 60.8 mm the adjustment of unimodal distributions is achieved. Initial polydispersity is more important to develop bimodal distributions when compared with initial molecular weight. Fourier transform infrared and X-ray electron spectrometry analysis show some suppression of PS degradation and complete oxidation inhibition of macromolecular radicals with the incorporation of radical scavengers, which we considered as additional aids when adjusting the MWDs.