A lightweight autonomous MAV for indoor search and rescue

Micro Aerial Vehicles (MAVs) have great potentials to be applied for indoor search and rescue missions. In this paper, we propose a modular lightweight design of an autonomous MAV with integrated hardware and software. The MAV is equipped with the 2D laser scanner, camera, mission computer and flight controller, running all the computation onboard in real time. The onboard perception system includes a laser‐based SLAM module and a custom‐designed visual detection module. A dual Kalman filter design provides robust state estimation by multiple sensor fusion. Specifically, the fusion module provides robust altitude measurement in the circumstance of surface changing. In addition, indoor‐outdoor transition is explicitly handled by the fusion module. In order to efficiently navigate through obstacles and adapt to multiple tasks, a task tree‐based mission planning method is seamlessly integrated with path planning and control modules. The MAV is capable of searching and rescuing victims from unknown indoor environments effectively. It was validated by our award‐winning performance at the 2017 International Micro Air Vehicle Competition (IMAV 2017), held in Toulouse, France. The performance video is available on https://youtu.be/8H19ppS_VXM .     

稳定同位素井间示踪技术在深层块状稠油油藏水驱特征研究的应用

经对冷43块深层块状普通稠油水驱注水5个试验井组开展的稳定同位素示踪测试，利用中子活化技术分析样品，采用先进的示踪剂定量分析与流动模拟相互结合的方法，以示踪数值模拟为手段，评价了油井连通、油层平面及纵向上的非均质性、隔层的封隔性等因素对水驱控制程度及动用状况的影响，通过优化注水推进方向及速度，强化动态调整措施，提高了稳产基础。     

丙烯酸酯聚氨酯紫外固化凝胶生成动力学研究

采用丙烯酸酯聚氨酯和二苯甲酮/安息香乙醚复合光敏剂,对该体系紫外光固化反应的凝胶生成动力学进行分析。用红外光谱定量测定光聚合过程的变化,发现光聚合反应主要是以双键打开,交联为特征的,并得出1408cm~(-1)双键吸收峰随光照时间而变化的关系式:P_(c=c)=0.325 t~(0.135)。临界凝胶点可由双键反应程度与凝胶分数之间关系外推得到,凝胶点后,体系中存在一个凝胶与溶胶之间分配关系,此时凝胶与溶胶共存,凝胶中双键反应程度P_(A(g))>总双键反应程度P_A>溶胶中双键反应程度P_(A(S))。随着凝胶增加,P_A和P_(A(g))逐渐上升,而P_(A(s))下降。此体系的紫外固化实验工作曲线与理论值基本一致。     

镀Cu碳毡／环氧树脂复合的研制

研究了镀Ｃｕ碳毡／环氧树脂（ＣｕＣＦ／ＥＰ）复合材料的制备，并探讨了镀Ｃｕ量对碳毡电阻率，复合材料电阻率及其电磁屏蔽效率的影响规律，经合理工艺制得的镀Ｃｕ碳毡（４００ｍｇ．ｇ＾－１Ｃｕ－ＣＦ）含量为３００ｍｇ．ｇ＾－１ＣｕＣＦ／ＥＰ复合材料，其电磁屏蔽效率可在２０＝－１０００ＭＨＺ范围内达到６０ｄＢ。     

成形工艺对快速凝固Al—Cu—Mg合金组织和性能的影响

采用自制离心雾化装置制取了快速凝固LY12硬铝合金粉末,研究了以该粉末制成的真空热压件和挤压丝材的组织和性能。结果表明,所得粉末为泪滴状,其显微组织为树枝状晶和胞状晶。真空热压件密度高时所对应的强度高。450℃、10min、150MPa为较合理的工艺,此时粉末颗粒间结合密实,晶粒尺寸没有明显改变。在500℃热挤压时,挤压丝的组织已发生了再结晶,晶粒尺寸仍较细小。挤压丝材的抗拉强度达460MPa,其断口为韧窝状,韧窝尺寸小于3μm,且分布均匀。     

Activity of Bromelain with Cationic Surfactants and the Correlation with the Change of 1H NMR Signals

This study observed the activities of bromelain in the presence of various cationic surfactants at different temperatures and the conformational changes in bromelain by ¹H NMR spectroscopy. We found that the bromelain activity was enhanced by tens to hundreds of micromoles per liter of the surfactant. In the presence of the surfactants, bromelain exhibited good tolerance to a range of substrate temperatures and its thermal stability was also increased. The ¹H NMR experiments indicated that when the temperature was increased from 25.0 to 45.0 °C, the protons of bromelain having chemical shifts (δ) between 3.7 and 5.2 ppm moved upfield, while those having δ values between 3.2 and 3.7 ppm moved downfield. In the bromelain/cationic surfactant mixture, the values of δ for the protons in both bromelain and the cationic surfactants decreased, accompanied by the broadening of the half-peak width of the surfactant protons. These results indicated that both increasing temperature and adding a cationic surfactant made the bromelain chain more flexible and hence, increased the bromelain activity. To the best of our knowledge, this was the first time that the relationship between the protein activity and the ¹H NMR data was expounded.     

水工混凝土构件裂缝检测方法及应用

水利工程在长期运行过程中,其混凝土构件会出现磨蚀、裂缝等损伤,如这类问题不能够及时得到处理,将会严重影响水利工程的安全运行。本次研究主要针对水工混凝土构件中的裂缝检测方法进行研究,提出从“定性”到“定量”的一体化检测思路,具体实施过程分为四部分,即“普探—详查—判定—验证”,其中,普探阶段采用探地雷达法,确定裂缝的总体分布;详查阶段采用超声横波反射三维成像的方法,确定裂缝的纵深向分布;判定阶段分别采用裂缝测宽法和表面声波法,用来确定裂缝的表面宽度和贯穿深度;验证采用钻孔电视,确定探测结果的正确性和准确性。上述技术路线突破了单一方法的限制,可有效地运用于水工混凝土构件裂缝检测,经实践证实,具有良好的检测效果。     

回转窑中心线偏差动态测量新法

针对现有回转窑动态测量方法存在测量基准不可靠,测量误差大等问题,提出建立横梁实体水平基准,动态测量水泥回转窑筒体中心线偏差的新方法。采用新方法设计的测量系统由全站仪、在线直径测量组件、托架组件、标定过的水平标尺和数据采集器等软硬件组成。通过架设水平基准横梁,由左、右托轮中心和轮带中心建立三角形模型,用全站仪间接测得回转窑中心线的水平和竖直偏差。经现场实地测量调试:新方法研制的测量系统稳定可靠,精度达到0.5 mm以内,测量数据与现场窑体运转状态反映一致。     

钴纳米颗粒的制备及其表征

采用简单的溶液还原方法，以聚乙烯吡咯烷酮（PVP，MW=58，000）作为高分子表面修饰剂，用水合肼（50％）作为还原剂，经回流处理，成功地制备出了分散性较好的钻纳米颗粒。利用XRD、TEM、SQUID等实验方法对产物的形貌、物相及磁性进行了表征。结果表明，产物为六方结构。其饱和磁化强度为153emu／g-1．62μB／Co，是体相材料的饱和磁矩的95％，其矫顽力为5174A·m^-1。此方法的优点在于反应条件温和、成本较低，重复性强、产率高且宜于控制。     

Poly(3‐chlorothiophene) films prepared by the direct electrochemical oxidation of 3‐chlorothiophene in mixed electrolytes of boron trifluoride diethyl etherate and sulfuric acid

3‐Chlorothiophene (CT) was electrochemically polymerized in mixed electrolytes of a boron trifluoride diethyl etherate solution containing 0–20% (by volume) sulfuric acid. The oxidation potentials of the monomer in these media were measured to be only 1.06–1.31 V (vs Ag/AgCl). These values were much lower than that of CT in acetonitrile and 0.1 mol/L (Bu)₄NBF₄ (1.92 V vs Ag/AgCl). Poly(3‐chlorothiophene) (PCT) films with conductivities of 0.1–2 S cm^?1 were obtained. The structure, morphology, and electrochemical behavior of the PCT films also were investigated. © 2002 Wiley Periodicals, Inc. J Appl Polym Sci 87: 502–509, 2003