机器人三维路径规划问题的一种改进蚁群算法

本文研究移动机器人三维空间路径规划问题,针对三维空间的复杂地形特点,提出了一种基于改进蚁群算法的路径规划算法。文中首先描述了一种简单有效的环境建模方法,然后给出了算法在信息素呈现、路径点选取、信息素更新以及启发式函数设计等方面的改进方法。仿真结果证明了算法的可行性和可靠性。     

高空作业平台臂架伸缩运动的横向振动特性

为了探究高空作业平台做伸缩运动时变幅平面内的横向振动动力学特性,针对臂架的实际搭接和支承情况,将臂架等效为根部铰接、中间弹性支承且带有集中参数的变截面变长度梁. 基于牛顿第二定律建立各臂段的运动微分方程,采用模态叠加法、结合边界条件求解臂架一系列时刻的瞬态振型函数,曲线拟合时变参数以近似表示梁的振型,并依据伽辽金截断方法,得到广义坐标下的状态空间方程. 在Matlab/Simulink环境下进行动态仿真,得到伸缩过程中臂架头部的变幅平面横向振动动态响应. 结果表明,就横向振动振幅而言,搭接简化会带来15.63%计算结果误差;支承简化会加大臂架整体刚度、减小臂架振动响应,不可取。     

高温混合障碍空间中的移动机器人路径规划

为了解决高温场景中移动机器人全局路径规划所面临的安全与效率问题,提出高温热源虚拟障碍的定义,建立混合障碍空间模型,将高温场景中的路径规划问题转化为高温混合障碍空间中考虑路径温度代价和长度代价的多目标优化问题. 改进NSGA-Ⅱ算法,通过选取优秀非可行解扩展种群,提高了种群多样性和进化效率,提出新的交叉和变异概率计算方法. 根据种群进化进程和个体代价函数值调整概率,实现了种群前期搜索能力和后期收敛性的平衡. 仿真所得的最优路径结果表明,该改进算法的路径长度代价虽然比原算法和其他改进算法略有增加,但温度代价大幅降低,更有效地避免了陷入局部最优.     

弹性半无限空间中矩形孔收缩的复变函数解答

随着城市建设的发展,矩形隧道的应用越来越多,但针对矩形隧道的理论研究却鲜有见闻。针对矩形隧道,建立了半无限空间矩形隧道的弹性理论计算模型,采用最小二乘迭代方法确定共形映射函数的各项系数,并将计算区域映射为复平面上的一个同心圆环;运用Muskhelishvili复变函数方法,将计算区域内的应力函数展开成为Laurant级数的形式,给定了地表零应力边界和矩形孔口径向位移边界,求得了半无限空间矩形隧道在给定位移条件下的应力场和位移场。分析了不同高宽比、不同泊松比、不同埋深对位移场和应力场的影响,总结了矩形隧道位移场和应力场的一般规律。结果表明：高宽比偏小、泊松比偏大、埋深偏小都会使得沉降槽不再是类高斯曲线的形状,这些参数的变化也会在不同程度上影响应力场和位移场的大小和分布。     

An Eco-Friendly Approach to the Control of Pathogenic Microbes and Anopheles stephensi Malarial Vector Using Magnesium Oxide Nanoparticles (Mg-NPs) Fabricated by Penicillium chrysogenum

The discovery of eco-friendly, rapid, and cost-effective compounds to control diseases caused by microbes and insects are the main challenges. Herein, the magnesium oxide nanoparticles (MgO-NPs) are successfully fabricated by harnessing the metabolites secreted by Penicillium chrysogenum. The fabricated MgO-NPs were characterized using UV-Vis, XRD, TEM, DLS, EDX, FT-IR, and XPS analyses. Data showed the successful formation of crystallographic, spherical, well-dispersed MgO-NPs with sizes of 7–40 nm at a maximum wavelength of 250 nm. The EDX analysis confirms the presence of Mg and O ions as the main components with weight percentages of 13.62% and 7.76%, respectively. The activity of MgO-NPs as an antimicrobial agent was investigated against pathogens Staphylococcus aureus, Bacillus subtilis, Pseudomonas aeruginosa, Escherichia coli, and Candida albicans, and exhibited zone of inhibitions of 12.0 ± 0.0, 12.7 ± 0.9, 23.3 ± 0.8, 17.7 ± 1.6, and 14.7 ± 0.6 mm respectively, at 200 µg mL⁻¹. The activity is decreased by decreasing the MgO-NPs concentration. The biogenic MgO-NPs exhibit high efficacy against different larvae instar and pupa of Anopheles stephensi, with LC50 values of 12.5–15.5 ppm for I–IV larvae instar and 16.5 ppm for the pupa. Additionally, 5 mg/cm² of MgO-NPs showed the highest protection percentages against adults of Anopheles stephensi, with values of 100% for 150 min and 67.6% ± 1.4% for 210 min.     

超临界流体在有机合成中的应用新进展

综述了超临界流体应用于有机合成的新成果及新动向,包括催化氢化、Diels-Alder反应、烯键易位反应、环化反应、费托合成、傅克烷基化反应、酯化反应、氧化反应、烷基化反应、重排反应和水解反应等方面。它在绿色化学反应方面具有很大的潜在优势。     

建筑供排水用聚丙烯管道(PP-R)特性简析

PP -R管道具有质轻、连接方便、良好耐热性和较小导热系数、耐腐蚀且管道阻力小等优点 ,属绿色产品 ,本文对施工过程中就PP -R管与混凝土的粘结不密、抗紫外性能差等问题提出了相应的处理措施     

Theoretical Models for Binder Burnout

The kinetics of binder burnout, from a ceramic green body, are considered for the case of an "unzipping" binder which decomposes to produce a volatile monomer. The process is considered to fail if the concentration of monomer in the green body exceeds that in equilibrium with vapor at 1 atm (≅10⁵ Pa), when an internal bubble would be expected to form. Steady-state diffusional calculations and computer simulations explore the size and temperature dependence of the process and are in agreement. The model suggests that it is not feasible to burn out a large flat piece greater than about 3 mm thick, without going to very long times of burnout. The kinetics are significantly improved if porosity develops in the piece during the early stages of decomposition, as opposed to the retreat of the binder into the piece on a uniform front.     

钢管除锈机设计与经验

介绍了钢管除锈机的基本原理及设计过程,实践证明:使用钢管除锈机不仅保证了除锈质量,还提高了工作效率。