面向草莓抓取的气动四叶片软体抓手研制

农林业中果蔬的自动化采摘需求日趋强烈,末端抓手是实现无损采摘的关键。传统的末端抓手以刚性结构居多,现有的各种柔性抓手也存在抓取力不足、包覆性不佳等缺点。本文以草莓的无损采摘为研究对象,提出将草莓外部轮廓曲线作为设计曲线,设计了一种新型气动四叶片软体抓手。首先,对软体抓手的结构做仿真优化,提出一种安全地附着在目标物表面的设想。然后,在进行草莓表面的最小破坏应力试验的基础上,测试了软体抓手的末端力,验证了其实现无损抓取的可行性。再次,利用动态捕捉技术,研究了软体抓手叶面的弯曲变形规律。最后,选择使用弧线型气体通道的软体抓手进行了草莓抓取测试,结果证明了气动四叶片软体抓手可以实现草莓的无损抓取,抓取成功率达90%,破损率为2%,表明所研制的四叶片软体抓手用于草莓抓取时具有良好的稳定性和实用性,可用于草莓采摘的末端执行器。本研究也可为其他易损果蔬的采摘技术提供理论基础和技术支撑。     

Evolution of Local Structural Ordering and Chemical Distribution upon Delithiation of a Rock Salt–Structured Li1.3Ta0.3Mn0.4O2 Cathode

Lithium‐rich disordered rock‐salt oxides have attracted great interest owing to their promising performance as Li‐ion battery cathodes. While experimental and theoretical efforts are critical in advancing this class of materials, a fundamental understanding of key property changes upon Li extraction is largely missing. In the present study, single‐crystal synthesis of a new disordered rock‐salt cathode material, Li_1.3Ta_0.3Mn_0.4O₂ (LTMO), and its use as a model compound to investigate Li concentration–driven evolution of local cationic ordering, charge compensation, and chemical distribution are reported. Through the combined use of 2D and 3D X‐ray nanotomography, it is shown that Li removal accompanied by oxygen oxidation is correlated with the development of morphological defects such as particle cracking. Chemical heterogeneity, quantified by subparticle level distribution of Mn valence state, is minimal during Mn redox, which drastically increases upon the formation of cracks during oxygen redox. Density functional theory and bond valence sum mismatch calculations reveal the presence of local short‐range ordering in the pristine oxide, which gradually disappears along with the extraction of Li. The study suggests that with cycling the transformation into true cation–disordered state can be expected, which likely impacts the voltage profile and obtainable energy density of the oxide cathodes.     

岩矿稀有金属化学分析技术浅析

分析当前较为常用的岩矿稀有元素分析技术方法,并对几种常见的稀有元素分析方法进行了阐述,希望为我国矿产勘探领域提供一些有价值的参考借鉴。     

An approach to measure infill matric suction of irregular infilled rock joints under constant normal stiffness shearing

Rock joints infilled with sediments can strongly influence the strength of rock mass. As infilled joints often exist under unsaturated condition, this study investigated the influence of matric suction of infill on the overall joint shear strength. A novel technique that allows direct measurement of matric suction of infill using high capacity tensiometers (HCTs) during direct shear of infilled joints under constant normal stiffness (CNS) is described. The CNS apparatus was modified to accommodate the HCT and the procedure is explained in detail. Joint specimens were simulated by gypsum plaster using three-dimensional (3D) printed surface moulds, and filled with kaolin and sand mixture prepared at different water contents. Shear behaviours of both planar infilled joints and rough joints having joint roughness coefficients (JRCs) of 8–10 and 18–20 with the ratios of infill thickness to asperity height (t/a) equal to 0.5 were investigated. Matric suction shows predominantly unimodal behaviour during shearing of both planar and rough joints, which is closely associated with the variation of unloading rate and volumetric changes of the infill material. As expected, two-peak behaviour was observed for the rough joints and both peaks increased with the increase of infill matric suction. The results suggest that the contribution of matric suction of infill on the joint peak normalised shear stress is relatively independent of the joint roughness.     

Chest X-ray enhancement to interpret pneumonia malformation based on fuzzy soft set and Dempster–Shafer theory of evidence

Image enhancement algorithms are commonly used to increase the contrast and visual quality of low-dose x-ray images. This paper proposes an automated enhancement method using soft fuzzy sets with a new decision-making scheme based on Dempster-Shafer theory of evidence for the visual interpretation of pneumonia malformation in low-dose x-ray images, called as XEFSDS. The XEFSDS model first generates an original source x-ray image into a complementary image, then each original and complement image is applied to the characterized image object and background areas of fuzzy space. The S-function is utilized to define fuzzy soft sets for the classification of gray level ambiguity in both images, and hence a decision criterion via Dempster-Shafer approach and fuzzy interval has been adapted to discriminate uncertainties on the pixel intensity and the spatial information. Modified membership grade operations have been performed on each object/background area, and Werner’s AND/OR operator (an aggregation operator) has been utilized to build a new membership function from two modified membership functions. Finally, an enhanced image is obtained from the new membership function via defuzzification. Experiments on different pneumonia X-ray images demonstrate that the XEFSDS scheme produces better results than the existing methods. To show the advantages of the XEFSDS scheme, we have executed a segmentation based examination on enhanced image for the detection of pneumonia malformation as well as abnormal lobe (lobar pneumonia) or bronchopneumonia.     

基于交会图和多元统计法的神经网络技术在火山岩识别中的应用

针对火山岩储层的特殊性(复杂性、离散性和随机性),应用BP神经网络技术对火山岩测井解释中岩性识别问题进行了研究。该方法的技术关键是样本集和初始权重的建立,以及模型的优选。本文提出了一种基于交会图和多元统计法的学习样本生成方法,即根据取心岩样的地球化学和岩石学研究,用交会图技术建立样本集,采用聚类分析和距离判别法确定初始权重。将研究方法应用在松辽盆地杏山地区火山岩岩性识别问题中,取得了很好的效果,岩性解释符合率高于90%。文中通过四种岩性识别处理模式的对比研究,表明赋权重处理模式为最优处理模型。在神经网络模型预测过程中,需充分利用已有的地质经验和测井曲线信息建立典型可靠的样本文件,同时考虑神经网络方法中各种因素的影响,优选模型和计算参数才能使预测结果符合实际情况。     

焉耆盆地原油物理化学特征及油源对比研究

在焉耆盆地侏罗系三工河组和八道湾组均发现原油,目前关于侏罗系产层原油的油源问题存在不同的认识。对研究区原油的物理、化学性质进行系统的研究,认为侏罗系三工河组和八道湾组原油不仅在物理性质上有一定的差别,而且在地球化学组成及生物标记化合物上也有一定的差异,应具有不同的来源。侏罗系三工河组原油属于典型腐殖型干酪根成因,而侏罗系八道湾组原油除了具有腐殖型干酪根成因的某些特征外,还具有湖相泥岩生烃的特点。通过原油与各类源岩生物标志物进一步对比分析发现,侏罗系三工河组原油与西山窑、三工河组烃源岩及石炭系、三叠系烃源岩地球化学特征均存在明显差异,与侏罗系八道湾组烃源岩对比性较好。侏罗系八道湾组原油与八道湾组、三叠系源岩有一定相似性,因此认为八道湾组源岩为其主要源岩,三叠系源岩也有一定的贡献。目前勘探生产主要以八道湾组烃源岩为目标,下一步应加强对三叠系烃源岩贡献区带的勘探部署。      

湘中海相浅层湘冷1井酸压工艺研究及应用

湘冷1井具有气层埋藏浅（400m-500m）、纵向上裂隙发育的特点，属低孔、低渗的含泥质灰岩致密储层。大量室内实验和研究采用“前置液酸压＋闭合酸化”工艺技术，并优选了相应降阻酸和闭合酸配方。通过酸压实现了该井工业油气流的突破，取得了明显的增产效果，为新区海相浅层气的开发探索出了一套成熟的改造增产措施。     

机械-射流破岩耦合特性研究

在现代旋转钻井破碎井底岩石中仍是以机械破岩为主，理论与实践证明，射流辅助破岩是提高钻井破岩效率的重要途径，但它们的耦合特性研究极少。文章基于渗流场与应力场的耦合理论分析，进行了机械与射流破岩耦合特性的实验研究。结果表明：射流压力和水楔作用对岩石渗流场、应力场具有重要作用，耦合作用比非耦合作用的破岩效率有较大幅度的提高。在实验条件下，砂岩的耦合作用提高破岩效率40％左右，灰岩的耦合作用提高破岩效率20％左右。