Variability of light absorption properties in optically complex inland waters of Lake Chaohu,China

Absorption coefficients of phytoplankton, colored detrital matter (CDM), non-algal particles (NAP), colored dissolved organic matter (CDOM), and their relative contributions to total non-water absorption (a_t ? w) are essential variables for bio-optical and radiative transfer models. Light absorption properties showed large range and variability sampled at 194 stations throughout Lake Chaohu between May 2013 and April 2015. The a_t ? w was dominated by phytoplankton absorption (a_ph) and NAP absorption (a_d). The contribution of CDOM absorption to a_t ? w was lower than 30%. Phytoplankton and NAP were the primary sources of spatial and vertical variability in absorption properties. Light absorption by CDOM, though significant in magnitude, was relatively constant. CDM absorption (a_dg) was dominated by NAP. The spatial variation of the absorption coefficients from each of the optically active constituents were driven by several main inflow rivers in the western and middle part of Lake Chaohu. Algal blooms and bottom resuspension contributed to vertical variability as observed by phytoplankton and NAP profiles. Specific absorption of phytoplankton had significant spatial and seasonal variations without vertical variation. The spectral slope of absorption showed no significant spatial variability (p > 0.05). Variations of absorption affected different ranges of remote sensing reflectance (R_rs) spectrum, thereby increasing the difficulty of applying the remote sensing algorithm in optically complex waters. Parameters and relationships presented in this study provide useful information for bio-optical models and remote sensing of lakes similar to Lake Chaohu in terms of optical properties.     

Regeneration of zinc particles for zinc–air fuel cells in a spouted-bed electrode

Fuel cells wherein zinc particles form a negative electrode and a gas-diffusion electrode (air electrode) is the positive electrode, are under development. Such cells are dependent on the regeneration of the zinc particles (and electrolyte). This paper describes experiments on electrolytic cells equipped with spouted bed cathodes for use in this application. Experiments have been carried out on laboratory scale cells to determine the operability of cells for growing 'seed particles in the range from 0.4 to 1 mm to measure cell voltage and current efficiency (and thereby energy consumption rate), and to identify a suitable material that could be used as a diaphragm (separating the spouted bed from the oxygen evolving anode). A larger cell, capable of producing up to 10 kg Zn per day, was designed and built. The larger cell was run successfully fifteen times and showed cell voltages and energy consumption rates comparable with those of smaller cells.     

Fuzzy PID control of space manipulator for both ground alignment and space applications

Considering gravity change from ground alignment to space applications, a fuzzy proportional-integral-differential (PID) control strategy is proposed to make the space manipulator track the desired trajectories in different gravity environments. The fuzzy PID controller is developed by combining the fuzzy approach with the PID control method, and the parameters of the PID controller can be adjusted on line based on the ability of the fuzzy controller. Simulations using the dynamic model of the space manipulator have shown the effectiveness of the algorithm in the trajectory tracking problem. Compared with the results of conventional PID control, the control performance of the fuzzy PID is more effective for manipulator trajectory control.     

A new test for cleaning efficiency assessment of cleaners for hard surfaces

A new test was developed to assess the efficiency of no-wiping hard-surface cleaning. The test allows cleaner comparisons according to their ability to remove greasy soils. The chosen approach minimizes the mechanical forces applied while cleaning so that the interactions between a detergent solution and the soil to be removed can be characterized. For this, immersion cleaning was chosen, with coated stainless steel as substrate and pigmented oils as the model soil. Several parameters were studied in defined ranges using the Experimental Design method and systematic comparisons. The test shows high reliability on degreasing assessments and is there-fore especially suited to optimization of nonionic surfactant mixes. The originality of the test lies in the possibility of keeping a visual trace of the cleaned substrate appearance by imprinting it on a piece of paper. The validation of the test leads to corroboration of several practical observations. Temperature and agitation play a major role in cleaning efficiency. Detergent solution concentration is a more relevant parameter than pH. Sodium carbonate is shown to have a higher buffering effect than pentahydrated sodium metasilicate. The test is easy to set up, highly sensitive, and can be adapted to solve the problems encountered by formulators of detergent cleaners, such as screening the best ethoxylated fatty alcohol mix for better degreasing properties.     

基于QPSO 算法移动机器人轨迹规划与实验

针对移动机器人路径规划问题,提出一种基于QPSO算法的路径规划方法,并用概率论的方法分析了移动机器人路径规划的收敛性,阐明了该方法随均匀分布和正态分布的参数关系和收敛区间;然后根据移动机器人的运动特征提出一种改进的轨迹规划方法。移动机器人平台的实验结果表明了该方法在移动机器人路径规划中的有效性和可行性。     

轨迹空间中基于特征符号搜索算法的非刚体三维运动重建研究

现有研究一般是在正交约束条件下采用最小二乘法来求解三维运动轨迹基重建问题,然而这些算法的性能容易受噪声影响,产生不适定性。为此,通过利用离散线性的方法为三维运动搜索最优轨迹基系数和三维结构,建立了一种基于特征符号搜索算法的三维运动轨迹基重建方法。利用该方法,对一系列单目图像序列进行了重建实验研究,结果表明所提出的方法是可行的,并提高了重建算法的准确性。     

淤浆鼓泡床中固体粒子的悬浮特性

研究了三相鼓泡床中的临界固含率,以空气作气相,水、乙醇-水、丙酮-水、萜松醇-二甲苯作液相,石英砂、煤、雷奈镍作为固相。分析了鼓泡柱的高径比、气体速度、固体粒子的大小和比重、液体的粘度对临界固含率的影响,提出了含有这些参数的无因次数群的关联式,讨论了本文提出的关联式和文献报导的差别。     

基于近似弧长参数化的机器人轨迹规划

主要研究了采用近似弧长参数化的插值方法进行关节式工业机器人的轨迹规划.运用近似弧长参数化的插值方法将机器人末端轨迹参数曲线离散为等弧长的插值点序列,通过机器人逆向运动学求解各关节的位移点序列,采用极限的方法进行各关节速度和加速度规划.这种轨迹规划方法可以避免关节空间的插值计算和雅克比矩阵的计算.在 matlab7.8平台上,对近似弧长参数化的插值方法、轨迹规划及可行性验证进行了实例仿真,仿真结果表明该轨迹规划方法是可行的.     

防空导弹拦截目标的建模与仿真

利用simulink构造防空导弹抗击目标的模型.在比例导引的基础上,建立导弹和目标的运动轨迹方程,模拟两者运动轨迹对抗击过程进行仿真.模型结构简单,能够实现对航向角和航迹角的实时跟踪,同时可以利用简单的参数调整模拟不同类型目标.最后,对拦截过程多个相关因素的影响给予对比,仿真结果理想可靠.     

冷冻凝聚工艺生产CR322的研制

对原电解质凝聚工艺生产CR322(混合调节型氯丁橡胶)进行了改进，实现了冷冻凝聚新工艺法生产切块CR322，即主乳化剂由松香皂／脂肪酸皂复合型代替了单一松香皂。新工艺解决了冷冻转鼓装置生产CR322过程中“黏杆”及干胶门尼黏度控制等问题。产品无焦烧粒子。且焦烧时间明显延长。