光纤式机器人触觉传感器静态特性的实验研究

介绍了一种光纤式机器人触觉传感器，分析了这种传感器的静态特性，并通过理论分析和实验研究提出了一种消除干扰的方法。实验结果证明，传感器的最大绝对误差为０．０５３ｋｇ，相对误差为０．６２％。     

Accurate estimation of environment parameters from ultrasonic data

This paper describes a robust and accurate ultrasonic sensing system for a mobile robot. The system continuously updates a local map of the environment in which obstacles are represented by straight lines or points in a robot centered coordinate frame. The presented algorithms use a Kalman filter for the reduction of the noise in the ultrasonic data and use a systematical error correction (‘bundle correction’) to reduce the uncertainty in obstacle direction. Experiments are carried out in simulation and with a real mobile robot system. Results show that the accuracy with which line parameters can be estimated is in the order of 1 degree for the orientation and about 2 cm for the position. The effect of the bundle correction is significant and maximal when the robot approaches walls under a small angle.     

Transport properties of 1,1-difluoroethane (R152a)

Based on reliable. carefully selected data sets. equations for the thermal conductivity and the viscosity of the refrigerant R 112a are presented. They are valid at temperatures from 240 to 440 K, pressures up to 20 MPa. and densities up to 1050 kg · m^–3. including the critical region.     

液体低温热导率的测试

介绍了非稳态法测试液体在低温下（－１００～５０℃）的热导率的测试原理、方法，测试了全氟三乙胺的低温热导率。为了提高测试的重复性，采用了相对比较法，并给出了测试装置及测试结果和误差分析。     

Carbon fibre cloth as an electrode material: electrical conductivity and mass transfer

The paper deals with carbon fibre cloth electrodes, employed in the fabrication of composite materials. The electrical conductivity of single bundles, groups of bundles and cloth is studied. Ohm's law applies to the electrical conduction in the direction of the fibre length, but bundle conductivity decreases with the number of fibres in the bundle. Electrochemical mass transfer between a flowing electrolyte and a cloth arranged as a flow-through or a flow-by porous electrode indicates the existence of double porosity in the material. Due to double porosity, only the external surface of the cloth works as an electrode. This finding shows that the material is not suitable for such an application.     

Novel miniature integrated optical goniometers

A new principle and arrangement for directly determining the angle of incidence of an optical beam on an object are proposed and demonstrated. The novelty of the approach lies in the realization of a ‘smart object’, which extracts a portion of the incident beam's power into an optical waveguide attached to the object's surface or embedded in its body for converting the angle of incidence into the position of a guided beam with finite lateral extent. This ‘integrated optical light pointer’ beam is accomplished by means of creating additional degrees of freedom on the target in two different ways. While a first type is based on introducing spatial variations of the waveguide thickness, a second type makes use of a chirp of the grating periodicity. The feasibility for practical applications has been experimentally demonstrated by a direct comparison with a commercial high-resolution encoder, resulting in an r.m.s. error of <30′'. Measurements have been performed for chips fabricated based on replicated polycarbonate substrates and with no external optics, showing the great potential of this approach for realizing low-cost yet high-performance miniature goniometers.     

Evolution of the capillary network in a reactive powder concrete during hydration process

Ultrasonic waves in echographic mode, combined with autogenous shrinkage measurements, were used to study the evolution of the capillary network of reactive powder concrete (RPC) from the time after the mixing. Two characteristic porous classes have been identified: the first, between 10 and 20 nm, begins when the material reaches its solid hyperstatic state, and the second about 1 or 2 nm. The first class is associated with the porous space between the C-S-H hydrate clusters and the second with the internal porosity of the hydrate. The evolution of the active capillary radius as a function of the degree of hydration allows us to understand the strong interaction between the capillary network size and the chemical activity given by the dissipated calorimetric power curve. Indeed, the maximum point of the chemical activity marks the transition of the first class of pores to the second one. Finally, measurements of electrical conductivity through RPC samples show that after the maximum of the dissipated power, the curve of this electrical conductivity presents the same evolution as the capillary radius. As the electrical conductivity clearly depends on the evolution of the capillary network, the similarity between the results confirms our analysis in pore classes.     

Thermochemical behaviour of Ru(II) complex-SiO2 microcomposites

The results from DSC and thermogravimetric analysis of gels produced from a mixture of tetraethoxysilane (TEOS) and octyltriethoxysilane (OtEOS) both with and without immobilized Ru(II) tris(4,7-diphenyl-1,10-phenanthroline) dichloride as well as DSC and TG data for films deposited by deep-or spin-coating from the same gels, are reported. The initial products are characterized by elemental analysis, IR, solid state NMR and mass spectroscopy. Elemental analysis and IR spectroscopy are applied for identification of some of the intermediates obtained after heating at different temperatures. The final products are characterized by X-ray diffractometry. A hypothesis for the thermodecomposition processes taking place is proposed. The results reported contribute to elucidation of the properties as well as the temperature intervals in which the studied microcomposites could be used as sensing components of oxygen sensors.     

掺杂聚苯胺的表面接枝共聚改性

化学氧化法制备的聚苯胺表面的亲水性差，本文在本征态和不同酸掺杂志聚苯胺的表面上接枝共聚丙烯丙烯酸和丙烯酰胺，明显地改善了聚苯胺的表面亲水性。结果显示，聚苯胺表面经过等离子体处理后，有利于丙烯酸和丙烯酰胺在聚苯胺表面上的接枝共聚，随着接枝量增多，导电率则随之有所下降，此外，利用ＳＥＭ和反射ＩＲ表征了改性反聚苯胺表面的形态和结构。     

Predictive modeling of mercury speciation in combustion flue gases using GMDH-based abductive networks

Modeling mercury speciation is an important requirement for estimating harmful emissions from coal-fired power plants and developing strategies to reduce them. First-principle models based on chemical, kinetic, and thermodynamic aspects exist, but these are complex and difficult to develop. The use of modern data-based machine learning techniques has been recently introduced, including neural networks. Here we propose an alternative approach using abductive networks based on the group method of data handling (GMDH) algorithm, with the advantages of simplified and more automated model synthesis, automatic selection of significant inputs, and more transparent input–output model relationships. Models were developed for predicting three types of mercury speciation (elemental, oxidized, and particulate) using a small dataset containing six inputs parameters on the composition of the coal used and boiler operating conditions. Prediction performance compares favourably with neural network models developed using the same dataset, with correlation coefficients as high as 0.97 for training data. Network committees (ensembles) are proposed as a means of improving prediction accuracy, and suggestions are made for future work to further improve performance.