A binary approximating method for graspable region determination of biped climbing robots

For a biped pole-climbing robot (BiPCR) with grippers, it is an essential demand to determine the target grasp configuration for climbing and transiting between poles, with the graspable region as a priori knowledge. The graspable region on the target pole is critically important for climbing path planning and motion control. To efficiently compute the graspable region for a BiPCR, we propose a novel binary approximating method in this paper. This method may also be applied to generate the three-dimensional (3-D) workspace of a manipulator with constant orientation. The grasping problem and the concept of graspable region for a BiPCR are first introduced. The binary approximating method and the corresponding algorithms are then presented to generate the graspable region. Additional constraints on a biped climbing robot with five degrees of freedom (DoFs) are presented as a supplement to the algorithm. A series of comprehensive simulations are conducted with the five-DoF and six-DoF climbing robots to verify the effectiveness of the proposed method. Finally, the dexterity of biped climbing robots with different DoFs is discussed.     

Multiple targets enclosure by robotic swarm

Target enclosure by autonomous robots is useful for many practical applications, for example, surveillance of disaster sites. Scalability is important for autonomous robots because a larger group is more robust against breakdown, accidents, and failure. However, since the traditional models have discussed only the cases in which minimum number of robots enclose a single target, there has been no study on the utilization of the redundant number of robots. In this paper, to achieve a highly scalable target enclosure model about the number of target to enclose, we introduce swarm based task assignment capability to Takayama’s enclosure model. The original model discussed only single target environment but it is well suited for applying to the environments with multiple targets. We show the robots can enclose the targets without predefined position assignment by analytic discussion based on switched systems and a series of computer simulations. As a consequence of this property, the proposed robots can change their target according to the criterion about robot density while they enclose multiple targets.     

串联感应加热电源相角保护

数字感应加热电源在工业中一般采用串联负载与PFM调功方式。串联负载谐振与PFM调功方式要求逆变器频率稳定工作在感性区,但在实际工作过程中逆变器频率可能会由感性区越过谐振点滑入容性区,引起逆变器发生"炸管"现象。为了防止"炸管"现象的发生,在谐振点附近的感性区设置限相区,当频率进入限相区经PI处理使其稳定工作在感性区达到保护逆变器的目的。通过DSP实验平台测试,限相区的设置可以很好的保护逆变器使其稳定工作在感性区。     

基于区域权函数理论的多电极电磁流量计电极设计

基于Shercliff权函数提出区域权函数概念,设计多电极电磁流量计,通过测量管道截面不同位置的弦端电压,计算各区域的轴向平均速度,实现速度分布与体积流量的测量。着重研究了流量计电极设计,选取不锈钢平头方案的多电极电磁流量计,对于阀门下游的非轴对称单相流体积流量测量精度高于±1.0%,倾斜管固—液两相流实验证明:该设计对于两相流非轴对称的速度分布测量具备可靠性。     

Genome-wide genetic diversity may help identify fine-scale genetic structure among lake whitefish spawning groups in Lake Erie

In Lake Erie, lake whitefish Coregonus clupeaformis supported lucrative fisheries before populations were decimated by overfishing and water quality degradation. In recent years, there has been a renewed interest in lake whitefish and management of the fishery they support. Lake whitefish spawn on several reefs throughout Lake Erie, but the relative recruitment dynamics and contributions of spawning groups to the fishery are not well understood. Modern high-throughput sequencing approaches offer new opportunities to census population diversity and to identify subtle differences among closely related populations. We used high-throughput sequencing data to evaluate the genetic structure and diversity of lake whitefish collected opportunistically across broad spatial scales in Lake Erie. Using RAD-capture (Rapture), we sequenced and genotyped individuals (N = 88) from the west, central, and east basin of Lake Erie at 120,268 single nucleotide polymorphisms (SNPs). Lake whitefish from Niagara and Crib Reefs (west basin) diverged from the three collections. Interestingly, these were the only lake whitefish collected during the act of spawning (late November), and all other fish were collected pre-spawn (August-early November). These results suggest that some lake whitefish spawning reefs may be reproductively isolated, though definition of these groups into stocks will require more intentional sampling during the act of spawning.     

严寒地区大型倒虹吸工程管道应力及水力安全控制

新疆北疆供水工程跨越吉拉沟大洼槽的三个泉倒虹吸,跨度11 km,内径2.8 m,工作水头160m,是国内外同类工程中综合难度较高的大型倒虹吸工程,在结构强度、材料工艺、安装敷设、工程质量方面都有极高的要求,特别是高水头管道运行、充水、放空、水锤防护等各种工况下的水力安全控制问题,高温差与严寒条件下管道的应力应变问题尤为突出。对该工程设计、科研、施工及运行管理方面的经验进行介绍,对其在新技术、新材料、新工艺等方面取得的理论研究和技术创新成果进行总结,研究认为:工程总体布置合理,工程运行后监测资料及工程安全评价表明各项性状指标良好,通过模型试验研究确定的闸门开度、关闭速率、充水排气、放空排水等水力安全控制关键技术科学合理,为严寒地区大型倒虹吸工程的技术发展提供借鉴。     

化学工业与循环经济

现代化学工业在很大程度上成就了目前"大规模生产和大规模消费"的发展模式,其行业性质也决定了它必将在循环经济建设中扮演重要的角色。在阐述循环经济内涵和国际经验基础上,论述了绿色化学与循环经济的关系,并提出了一些初步的发展建议。     

圆弧齿轮的解析法设计计算

本文对目前在仪器仪表中采用的圆弧齿轮进行了分析,在图解法设计的基础上,推出了一套解析法设计计算方案。