基于粒子群算法的移动机器人全局最优路径规划*

以栅格法和粒子群算法为基础,提出了一种新的机器人实时全局最优路径规划方法.该方法包括采用栅格法对环境进行建模和直接运用粒子群算法在环境模型中搜索全局最优路径.在计算机上进行了仿真,仿真结果证明了该方法的可行性和有效性.     

我国轮胎工业40年发展的真实写照与缩影 ——纪念《轮胎工业》创刊40周年

结合《轮胎工业》创刊40年来的报道内容,综述我国轮胎工业40年来的发展历程。我国轮胎生产从最初的使用棉帘线、天然橡胶生产斜交轮胎,通过不断的技术攻关,逐步发展到生产子午线轮胎、无内胎轮胎、扁平化轮胎,进而到航空轮胎、绿色轮胎、安全轮胎、智能轮胎,每一步发展都包含着大量科技创新和自主知识产权。发展民用航空子午线轮胎、新能源汽车轮胎、免充气轮胎等生产技术是“十四五”的发展重点。     

Microstructural evidence for short-circuit oxygen diffusion paths in the oxidation of a dilute Ni-Cr alloy

A comparative study of high-temperature oxidation of Ni containing 1 at.% Cr and pure Ni was carried out. Instead of the conventional kinetics study using thermogravimetry, a microlithographic marker experiment was designed. Observation of the markers using cross-sectional TEM and SEM has revealed striking differences in the scale morphology, microstructures, and oxidation mechanisms between pure Ni and the Cr-doped Ni substrates. In particular, the results suggest that a small addition of Cr promotes significant inward transport of oxygen. Marker experiments revealed that NiO grown on pure Ni is wholly attributable to outward-cation diffusion. In contrast, NiO grown on Ni–1 at.% Cr exhibited formation of a substantial inner layer having a submicron grain size, established by the markers to have formed from oxygen ingress. For pure Ni, voids were observed to be distributed only within oxide grains. In contrast, for Ni containing 1 at.% Cr, elongated pores formed extensively along oxide-grain boundaries. Formation of new fine-grain oxide in these pores was observed to have sometimes completely resealed the void. It is, therefore, proposed that the transport of oxygen in the case of oxide scale grown on Ni–1 at.% Cr occurs via voids (pores) formed by vacancy coalescence at the grain boundaries.     

A new short-path distillation system applied to the reduction of cholesterol in butter and lard

A molecular distillation plant, built particularly to increase the separation efficiency and to obtain safer working conditions, was tested to remove cholesterol from anhydrous butter and lard. A preliminary experiment was carried out with butter to evaluate the fractionation obtained at temperatures between 190 and 250°C and residual pressures between 10⁻³ and 10⁻⁴ torr. A second experiment was carried out at 185°C and at the maximum operational vacuum, evaluating the fractionation achieved within a time scale between 30 and 180 min. Cholesterol was almost completely removed during the second hour with minimal loss of low-molecular weight triglycerides. An experiment was carried out with lard at 250°C and maximum achievable operational vacuum (10⁻⁴ Torr), lasting approximately 6 h, and cholesterol was removed almost completely during the second hour without significant modifications in the triglyceride composition. This situation remained constant throughout the duration of the test.     

Synthesis of Dimethyl Carbonate from Methanol and Carbon dioxide using Potassium Methoxide as Catalyst under Mild Conditions

Pd-supported on WO₃–ZrO₂ (W/Zr atomic ratio=0.2) calcined at 1073 K was found to be highly active and selective for gas-phase oxidation of ethylene to acetic acid in the presence of water at 423 K and 0.6 MPa. Contact time dependence demonstrated that acetic acid is formed via acetaldehyde formed by a Wacker-type reaction, not through ethanol by hydration of ethylene.     

分子蒸馏过程模型化研究进展

介绍了分子蒸馏基本原理和常用分子蒸馏设备 ,系统地对分子蒸馏过程模型化的研究进展情况进行了叙述 ,重点介绍了蒸发系数法、液体内部传质传热和蒸馏区惰性气体压力对分子蒸馏的影响等方面的研究结果 ,并对其进行了评述 ,同时对分子蒸馏过程研究的进一步发展提出了一些展望。     

AA/AAm改性的PVF高速粘贴标签胶粘剂的研制

采用AA/AAm改性PVF的方法制备高速粘贴标签胶粘剂。对PVA用量、聚合反应温度、引发剂、pH值、AA/AAm等对胶粘剂性能的影响进行了研究。结果表明 ,这些因素对胶粘剂的粘度、稳定性、干燥速度和粘贴强度有很大的影响。该胶粘剂有较好的粘贴性能 ,适用于 14 0 0 0 -2 80 0 0支 /小时高速啤酒生产线粘贴标签     

Synthesis of Sn-Incorporated Folded Sheets Mesoporous Materials (Sn-FSM-16)

Sn-incorporated folded sheets mesoporous materials (Sn-FSM-16) with various contents of Sn were synthesized by using a mixture of water glass, SnCl₄ and NaOH as starting materials. Hexadecyltrimethyl-ammonium chloride (surfactant) was used to intercalate into the layered silicate. The reaction process was followed by measurements of XRD patterns of intermediates. The Sn-FSM-16 was formed via the following mechanism: (1) layered silicates such as - - and -Na₂Si₂O₅ were formed as intermediates by the calcination of the mixture of the starting materials; (2) the surfactant was intercalated into the layered silicates; (3) the surfactant-silicate complex with hexagonal structure was obtained as a precursor of Sn-FSM-16; (4) the precursor was calcined to decompose the surfactant in the interlayer and was changed to Sn-FSM-16. The structural aspect of Sn in Sn-FSM-16 was studied by XPS profiles of Sn 3d _5/2 and Si_2p, ²⁹ Si MAS NMR and FTIR. The content of Sn in Sn-FSM increased with increasing concentrations of both Sn and NaOH in the starting materials. The surface area of Sn-FSM-16 decreased with an increase of Sn content in Sn-FSM (1160–620 m²/g).     

基于线性时序逻辑的最优巡回路径规划

基于线性时序逻辑(Linear temporal logic, LTL)的路径规划方法中, 多点巡回路径规划问题尚无有效解决方案. 为了在道路网络中实现最优巡回监测, 提出了基于LTL的最优巡回路径规划方法. 首先, 将环境建模成一个切换系统, 用LTL语言描述包含多个巡回点和障碍物的任务需求; 接着, 利用循环移位法构建能够融合任务需求和环境模型的扩展乘机自动机, 以建立路径信息完整的网络拓扑; 最后, 采用基于迪科斯彻法的最优综合算法搜索扩展乘机自动机网络上的最优路径, 从而获得能够满足复杂任务需求的最优巡回路径. 仿真结果表明, 该方法能够有效实现最优巡回路径规划.     

多层水平气流带式干燥机的数学模型

根据干燥传质传热学原理和干燥动力学特性，建立了水平气流带式干燥机干燥过程的数学模型。该模型可以预测干燥机合理的通风道高度、带翻转最佳时间和热风风速等。为优化多层带式干燥机的结构或设计新的水平气流带式干燥机提供了理论依据。