Multimodal sensing and active continuous closed‐loop feedback for achieving reliable manipulation in the outdoor physical world

The use of field robots can greatly decrease the amount of time, effort, and associated risk compared to if human workers were to carryout certain tasks such as disaster response. However, transportability and reliability remain two main issues for most current robot systems. To address the issue of transportability, we have developed a lightweight modularizable platform named AeroArm. To address the issue of reliability, we utilize a multimodal sensing approach, combining the use of multiple sensors and sensor types, and the use of different detection algorithms, as well as active continuous closed‐loop feedback to accurately estimate the state of the robot with respect to the environment. We used Challenge 2 of the 2017 Mohammed Bin Zayed International Robotics Competition as an example outdoor manipulation task, demonstrating the capabilities of our robot system and approach in achieving reliable performance in the fields, and ranked fifth place internationally in the competition.     

Study of MW-scale biogas-fed SOFC-WGS-TSA-PEMFC hybrid power technology as distributed energy system: Thermodynamic,exergetic and thermo-economic evaluation

Advanced biogas power generation technology has been attracting attentions, which contributes to the waste disposal and the mitigation of greenhouse gas emissions. This work proposes and models a novel biogas-fed hybrid power generation system consisting of solid oxide fuel cell, water gas shift reaction, thermal swing adsorption and proton exchange membrane fuel cell (SOFC-WGS-TSA-PEMFC). The thermodynamic, exergetic, and thermo-economic analyses of this hybrid system for power generation were conducted to comprehensively evaluate its performance. It was found that the novel biogas-fed hybrid system has a gross energy conversion efficiency of 68.63% and exergy efficiency of 65.36%, indicating high efficiency for this kind of hybrid power technology. The market sensitivity analysis showed that the hybrid system also has a low sensitivity to market price fluctuation. Under the current subsidy level for the distributed biogas power plant, the levelized cost of energy can be lowered to 0.02942 $/kWh for a 1 MW scale system. Accordingly, the payback period and annual return on investment can reach 1.4 year and about 20%, respectively. These results reveal that the proposed hybrid system is promising and economically feasible as a distributed power plant, especially for the small power scale (no more than 2 MW).     

RTK技术在黄土塬地震勘探测量中的应用

在对RTK技术进行简要介绍的基础上，叙述了这一技术在黄土塬地区地震勘探测量中的应用，及所取得的良好测量资料。     

广义频率响应函数的鲁棒建模新方法

针对基于非线性谱分析的故障诊断技术的需要,研究了非线性系统的广义频率响应函数的鲁棒在线建模方 法。首先将次元分析算法应用于Volterra级数模型的辨识,并通过对此算法的修正,得到了一种改进的Volterra系统的鲁 棒辨识算法。对其鲁棒性能进行的分析表明,改进算法的鲁棒抗噪性能被明显提高。在此基础上,提出了一种广义频率响 应函数的两步鲁棒建模新方法。仿真实验表明,该方法具有良好的鲁棒收敛性能,能够有效解决GFRF的在线建模问题。     

箱体零件CAD／CAPP／CAM集成系统的研究与实践

在ＣＩＭＳ环境下，针对箱体零件ＣＡＤ、ＣＡＰＰ、ＣＡＭ信息集成的功能需求，在基于特征的箱体零件信息模型、工艺计划模型与服务于工艺设计的制造环境模型的支持下，开发出了特征造型，工艺设计及加工过程仿真与ＮＣ编程等子系统，从而完成了一个集成化的箱体零件ＣＡＤ／ＣＡＰＰ／ＣＡＭ系统。     

应用管网式水力喷射泵延长垦西油田油井免修期

水力喷射泵采油是 2 0世纪 90年代初研制成功的一种采油新工艺 ,1994年通过ISO90 0 1质量体系认证 ,主要适用于稠油井、出砂严重及偏磨、腐蚀严重的油井。 1998年 3月开始在垦西油田K71断块实施该工艺 ,目前有管网式水力喷射泵井 2 7口 ,与常规机械采油相比 ,垦西油田油井免修期由 110d延长到 35 0d左右。介绍了管网式水利喷射泵采油工艺及其在垦西油田的实施效果。     

用爆破方法破碎室内混凝土基础

在我矿选厂技术改造中，运用爆破方法，在复杂环境条件下，成功地将原尾矿泵的混凝土基础实施了爆破破碎。其爆破效果达到了预期的目的。为整个技改工作的提前完成赢得了时间。     

表演驱动的矢量化二维表情动画

为了方便快捷生成生动的卡通表情动画,提出将表情数据重定向到卡通形象上的算法.该算法由用户在卡通形象上标记出与表情数据相对应拓扑结构的控制点,以此控制点集合与表情数据首帧控制点集合做比对;使用得到的比例关系将后续表情数据重定向到卡通形象上,从而形成针对卡通形象的表情数据.实验结果表明,运用文中算法可以制作出较为生动形象的卡通表情动画.     

碳纤维的表面性质——气-固色谱法研究

用气—固色谱法(反气相色谱法)研究了表面处理对碳纤维表面性质的影响。通过观察被测碳纤维表面与正烷烃及极性有机液体探针的相互作用,测定在“零复盖”条件下淋洗过程的保留体积,计算了吸附热力学函数。结果表明,经苯乙烯—马来酸酐共聚物电沉积处理的碳纤维表面与未处理碳纤维相比,表面能的色散分量差别不大。烷烃蒸汽在处理过的碳纤维表面上吸附时有较大的熵变,这表明烷烃分子在这种表面上吸附后构象变化更大,即探针分子活动性降低的程度比未处理表面来得大。极性探针与两种碳纤维表面的相互作用有很明显的差别,处理后的碳纤维表面与电子给体探针有强的相互作用,表明共聚物电沉积使碳纤维表面增加了电子受体基因,因而能有效地改善碳纤维表面与复合材料基体树脂的粘合性能。