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.     

DNAN及TNT基熔铸炸药综合性能比较

为了对比载体炸药2,4,6-三硝基甲苯(TNT)和2,4-二硝基苯甲醚(DNAN)、以及以它们为基的熔铸炸药的综合性能,系统研究了DNAN和TNT、以及DNAN/HMX(20/80)和TNT/HMX(25/75)熔铸炸药的流变、能量、安全、以及力学等性能。结果表明:载体炸药DNAN(6.87 m Pa·s)的粘度低于TNT(9.05 mPa·s),DNAN/HMX熔铸体系的极限固含量(约80%)高于TNT/HMX熔铸体系(约75%);DNAN/HMX(20/80)和TNT/HMX(25/75)熔铸炸药的爆速分别为8336 m·s~(-1)和8452 m·s~(-1),爆压分别为31.03 GPa和31.44 GPa;在1 K·min~(-1)的慢速烤燃条件下,DNAN/HMX(20/80)和TNT/HMX(25/75)熔铸炸药的响应等级分别为燃烧反应和爆炸反应;在4.51GPa的冲击波入射压力条件下,TNT/HMX(25/75)在8～12 mm内达到完全爆轰,而DNAN/HMX(20/80)在12 mm内未能达到完全爆轰;DNAN/HMX(20/80)的抗拉和抗压强度均大于TNT/HMX(25/75)。因此可以得出结论,在能量性能基本持平的情况下,DNAN/HMX(20/80)熔铸炸药的安全及力学性能优于TNT/HMX(25/75)熔铸炸药。     

一种5 重real-time PCR筛查转基因水稻方法的建立

以转基因水稻中最常用的CaMV35S启动子、NOS终止子、Cry1Ab/Ac基因、HPT基因及SPS水稻内标基因为研究对象，利用5 种不同的荧光信号（FAM、HEX、Taxas Red、Cy5、Cy5.5）进行多重实时聚合酶链式反应（real-time polymerase chain reaction，real-time PCR）检测方法的研究。通过引物组合筛选、反应体系优化、特异性测试、灵敏度测试、适用性测试等一系列实验，建立了5 重real-time PCR方法，灵敏度可达0.032%。此方法具有灵敏度高、结果准确、通量大等优点，可实现水稻中转基因成分的快速、高效检测。     

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).     

一种可替代漂珠的低密度材料

漂珠低密度水泥浆由于密度低、强度高、体系稳定而在油田低压易漏层及低压油气层长封固段固井作业中获得了广泛的应用。但近年来,由于漂珠的产量越来越少,油田低成本要求急需开发代替漂珠的新型减轻材料,以满足配制低密度水泥浆的需求。开发了BCL-10S低密度混合减轻材料,其物化性能与漂珠相当,用它作减轻剂配制的低密度水泥浆性能与用漂珠作减轻剂配制的低密度水泥浆性能相媲美,并已经在长庆油田获得了应用。     

miPP/ziPP共混体系的流动性能

首次对茂金属聚丙烯(miPP)／齐格勒-纳塔聚丙烯(ziPP)共混体系的流动性进行了系统的研究。研究发现，在miPP／ziPP共混体系中，miPP含量的变化改变了共混体系的相结构，这种相结构会随着温度和剪切速率的变化而产生明显的变化，从而改变了体系的流动性能，且该共混体系在不同剪切速率下的流动曲线可以分别通过两个模型进行模拟。     

分布式多DSP系统的CPCI总线接口设计和驱动开发

针对多DSP分布式互连的信号处理板卡,介绍基于PCI9054和FPGA的CPCI总线接口设计,分析通用WDM总线驱动程序的开发。接口设计引入数据包存储转发的方法,这种方法在分布式系统中可扩展性好、效率高。另外驱动程序采用DriverWorks进行开发,具有很好的通用性和可移植性。     

两种基于弯曲损耗的光纤测试仪器原理及应用

光纤通信技术的飞速发展带动了光纤测试仪器的发展。主要对两种利用弯曲损耗对光纤进行检测的仪器——光纤识别仪、光纤对线器的原理、结构及其在光纤通信工程中的应用进行了阐述，两种仪器可以在不中断光纤通信的情况下对光纤进行检测，极大地降低了对光纤通信系统的影响，对光纤通信系统具有重要意义。     

濮城油田东西区沙二下顶面微构造特征与剩余油分布

濮城油田沙二下是一个被断层复杂化了的断块型油气藏，通过对储层的精细描述表明，各砂岩组顶面微构造发育，其成因有2种，与构造作用有关的微构造及与构造作用无关的微构造，前者规模较大，后者规模通常较小，根据微构造的起伏变化和形态，可分为3类：正向微构造，负向微构造，斜面微构造，正向微构造是油气富集与控制剩余油分布的重要微构造。