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.     

综放工作面防治水技术应用实践

为解决21000工作面采空区及顶板涌水问题,根据工作面出水点的不同情况,采取了集水器导水、老塘设挡水堰截水、挖排水沟疏水等多项治水措施,经统计排水量达33~42m3/h,有效控制了水情,确保了工作面正常生产。     

辽河防洪应急工程中的加筋粉细砂筑坝技术

加筋粉细砂筑坝是一门新兴技术,通过在辽河防洪应急工程右岸李家堡段应用表明,该项技术在技术上是可行的、在经济上是合理的。本文介绍了该技术在辽河防洪应急工程右岸李家堡段的应用。     

综采工作面过断层采煤实践

介绍了大同煤矿集团公司挖金湾矿断层构造情况。总结了技术经验，针对具体条件，该矿综采过断层采煤采取了直接割煤、割顶（底）和预掘巷与割底相结合等过断层措施，取得了较好的效果。     

水库突发事件应急预案研究现状与关键技术初探

水库突发事件应急预案是大坝风险管理中非常重要的一个环节,是降低水库大坝风险的非工程措施.本文总结了国内水库突发事件应急预案的研究现状,并结合我国实际国情,初步提出了开展应急预案的关键技术,供大坝安全管理及科研人员参考.     

屋顶绿化配套技术研究

从绿化植物选择、种植土的配制、防排水措施，养护管理等方面介绍了“屋顶绿化配套技术研究课题”的主要成果。     

锚索锚杆联合支护在破碎顶板中的应用

结合工程工作面概况，就锚索和锚杆补强加固支护参数的选择进行了介绍，并指出锚索、锚杆的联合支护，保证了顶板的完整性，有效地控制了巷道的变形。     

改善多层住宅供暖设计的几项措施

提出了将水平干管敷设于屋面以解决上供下回系统在建筑层高较低时，水平干管影响室内美观及排气阀浮球不易检修等矛盾的几种设计方案。介绍了几项改善管网运行效果的措施。     

Passive solar systems for heating, daylighting and ventilation for rooms without an equator-facing facade

Spaces without northerly orientations have an impact on the ‘energy behaviour’ of a building. This paper outlines possible energy savings and better performance achieved by different zenithal solar passive strategies (skylights, roof monitors and clerestory roof windows) and element arrangements across the roof in zones of cold to temperate climates typical of the central and central-southern Argentina. Analyses were undertaken considering daylighting, thermal and ventilation performances of the different strategies. The results indicate that heating, ventilation and lighting loads in spaces without an equator-facing facade can be significantly reduced by implementing solar passive strategies. In the thermal aspect, the solar saving fraction reached for the different strategies were averaged 43.16% for clerestories, 41.4% for roof monitors and 38.86% for skylights for a glass area of 9% to the floor area. The results also indicate average illuminance levels above 500 lux for the different clerestory and monitor arrangements, uniformity ratios of 0.66–0.82 for the most distributed arrangements and daylighting factors between 11.78 and 20.30% for clear sky conditions, depending on the strategy. In addition, minimum air changes rates of 4 were reached for the most extreme conditions.     

Neuronet Data Processing on the State of an Object After an Emergency

Neuronets are considered for processing data on the state of a potentially hazardous object after an emergency. An example is given of processing the data on the state of a potentially hazardous object in increments.Translated from Izmeritel’naya Tekhnika, No. 3, pp. 6–8, March, 2005.