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。     

The World robot summit disaster robotics category – achievements of the 2018 preliminary competition

The World Robot Summit is a robot Olympics and aims to be held in a different country every four years from 2020. The concept of the Plant Disaster Prevention challenge is daily inspections, checks, and emergency response in industrial plants, and in this competition, robots must carry out these types of missions in a mock-up plant. The concept of the Tunnel Disaster Response and Recovery challenge is emergency response to tunnel disasters, and is a simulation competition whereby teams compete to show their ability to deal with disasters, by collecting information and removing debris. The Standard Disaster Robotics challenge assesses, in the form of a contest, the standard performance levels of a robot that are necessary for disaster prevention and emergency response. The World Robot Summit Preliminary Competition was held at Tokyo Big Sight in October 2018, and 36 teams participated in the Disaster Robotics Category. UGVs and UAVs contended the merits of new technology for solving complex problems, using core technologies such as mobility, sensing, recognition, performing operations, human interface, autonomous intelligence etc., as well as system integration and implementation of strategies for completing missions, gaining high-level results.     

A probabilistic load shedding concept considering highly volatile local generation

Automatic load shedding is the ultimate countermeasure against imbalance in a power system and can effectively help preventing large blackouts. Taking into account a high penetration of renewable energy sources (RES) in the distribution grid, a clear distinction between load and generation at the PCC becomes increasingly more difficult. For that reason an adaptation of frequency relay parameters and their locations of installation are necessary. In Europe this is rest on a multi-step plan based on values such as the yearly peak load. In this paper a novel probabilistic method for automatic load shedding is presented that uses the average values instead of peak values for load shedding. Its applicability is verified by a dynamic power system model that was developed to compare the classical and novel probabilistic load shedding principle. The method is verified using data from a German TSO.     

Optimal filtering and control for wireless networked closed-loop control systems

This article studies the optimal filtering and control for wireless networked control systems (WNCSs). In WNCSs, packets may be lost in both control and feedback channels and user datagram protocol is usually used to improve the performance of the real-time control. Relevant literature indicates that the conventional optimal filtering for such a system cannot be applied in practice due to the complex calculation with Gaussian mixtures. This paper proposes a novel scheme to realize the optimal filtering and the linear quadratic Gaussian control for WNCSs, in which the controlled node performs a local estimation and the remote-control node performs the final estimation and control, and a synchronization of two estimators is guaranteed by a communication mechanism. An optimal filtering algorithm is developed, the stability condition of the filtering error covariance is obtained, optimal finite-horizon and infinite-horizon control are derived, and the stability of the closed-loop control system is proved. Numerical simulations show the validity and feasibility of the theoretical results.     

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.     

郭庄煤业选煤厂振动筛筛选形式的优化研究

针对郭庄煤业选煤厂振动筛振动筛分方式可靠性差、筛分效率低下、物料筛分率低的难题,本文提出了三种新的振动筛分方案,对不同筛分方案的实际应用效果进行了分析。结果表明三移动一摆动的振动筛分方式对物料的综合分散度最高,稳定性好,该筛分方案已在郭庄煤业选煤厂煤炭筛分过程中得到了全面的应用。     

Studying the effect of organo-modified nanoclay loading on the thermal stability,flame retardant,anti-corrosive and mechanical properties of polyurethane nanocomposite for surface coating

Clay polyurethane nanocomposite (CPN) coating films were fabricated by uniformly dispersing nanoclay, organically modified with 25–30 wt.% octadecylamine in varying concentrations up to 5 wt.%, in a commercial two component, glossy, acrylic aliphatic polyurethane using ultrasonication. Organo-modified nanoclay was characterized by X-ray diffraction (XRD). The dispersion of the nanoclay into the matrix was investigated by scanning electron microscopy (SEM). CPN coating films were characterized by thermogravimetric analysis (TGA), and flame retardant, corrosion resistance and mechanical properties were also investigated. The XRD measurement indicated that, the organo-modified nanoclay particles were mainly constituted of montmorillonite with traces of quartz and calcite also found to be present. The SEM analysis showed that the nanoclay layers were dispersed and intercalated into the polyurethane coating. Thermogravimetric analysis showed that incorporating 5 wt.% organo-nanoclay into polyurethane considerably enhanced the thermal stability and increased the char residue to 14.11 wt.% relative to 4.58 for the sample without organo-nanoclay (blank polyurethane). The limiting oxygen index (LOI) test revealed that incorporation of organo-nanoclay led to a further increase in LOI values, which indicate an improvement in flame retardancy properties. The corrosion resistance also improved and this improvement increases with increase nanoclay wt.%. The mechanical resistance measurements demonstrated that the gloss of the CPN coating films slightly decreased, although hardness, adhesion and impact resistance of the CPN coating films improved with the incorporation of the organo-nanoclay.     

Binary Ti–Fe system. Part I: Experimental investigation at high pressure

The present work illustrates the effect of quasi-hydrostatic pressure on the positions and widths of the homogeneity ranges of the intermetallic phases TiFe and TiFe₂ at high temperatures. The experiments were performed with Ti–Fe diffusion couples that were heat treated in a multi-anvil press at 2.5 GPa. The solubility limits of the phases were derived from the concentration profiles that were measured using electron probe microanalysis. It was found that the homogeneity ranges of TiFe and TiFe₂ extend to higher titanium concentrations, if the pressure is applied. The positions of the phase boundaries of the intermetallics on the iron-rich side are not affected by the pressure. The accuracy of the experimental data including the homogeneity ranges and temperatures was verified by comparing the homogeneity ranges of β-Ti(Fe), α/δ-Fe(Ti) and γ-Fe measured in this study with the homogeneity ranges taken from literature. The pressure was calibrated using the pressure-induced phase transitions of bismuth.     

Systematic convergence of nonlinear stochastic estimators on the Special Orthogonal Group SO(3)

This paper introduces two novel nonlinear stochastic attitude estimators developed on the Special Orthogonal Group with the tracking error of the normalized Euclidean distance meeting predefined transient and steady‐state characteristics. The tracking error is confined to initially start within a predetermined large set such that the transient performance is guaranteed to obey dynamically reducing boundaries and decrease smoothly and asymptotically to the origin in probability from almost any initial condition. The proposed estimators produce accurate attitude estimates with remarkable convergence properties using measurements obtained from low‐cost inertial measurement units. The estimators proposed in continuous form are complemented by their discrete versions for the implementation purposes. The simulation results illustrate the effectiveness and robustness of the proposed estimators against uncertain measurements and large initialization error, whether in continuous or discrete form.