面向草莓抓取的气动四叶片软体抓手研制

农林业中果蔬的自动化采摘需求日趋强烈,末端抓手是实现无损采摘的关键。传统的末端抓手以刚性结构居多,现有的各种柔性抓手也存在抓取力不足、包覆性不佳等缺点。本文以草莓的无损采摘为研究对象,提出将草莓外部轮廓曲线作为设计曲线,设计了一种新型气动四叶片软体抓手。首先,对软体抓手的结构做仿真优化,提出一种安全地附着在目标物表面的设想。然后,在进行草莓表面的最小破坏应力试验的基础上,测试了软体抓手的末端力,验证了其实现无损抓取的可行性。再次,利用动态捕捉技术,研究了软体抓手叶面的弯曲变形规律。最后,选择使用弧线型气体通道的软体抓手进行了草莓抓取测试,结果证明了气动四叶片软体抓手可以实现草莓的无损抓取,抓取成功率达90%,破损率为2%,表明所研制的四叶片软体抓手用于草莓抓取时具有良好的稳定性和实用性,可用于草莓采摘的末端执行器。本研究也可为其他易损果蔬的采摘技术提供理论基础和技术支撑。     

Modeling of Calcium Chloride and Pectin Methylesterase Prefreezing Treatments of Strawberries and Jams

ABSTRACT: :
Different calcium chloride (CaCl₂) and pectin methylesterase (PME) prefreezing treatments in a vacuum were used to clarify the most effective prefreezing factors for strawberries and traditional jams. Fractional factorial design and modeling were used. CaCl₂ had the greatest effect on the majority of the 15 studied responses ( p < 0.001). The pretreatment time should be short (about 5 to 10 min), the temperature low (less than 20 °C), the vacuum level high (pressure less than 10 kPa), the CaCl₂ concentration moderate (about 1%) and the dosage of PME comparatively low (about 50 to 100 nkat/g) in order to yield high quality frozen strawberries for jam making.     

建立速度模型的层析成像方法研究

针对目前叠前深度偏移速度模型建立中，全局反演的层析成像方法存在稳定性和走时拾取困难，以及局部反演的偏移速度分析大多存在假设条件过于苛刻等问题，通过分析，提出了利用地震同相辅的多种信息进行层析反演，并在反演中加入富有地质含义的倾角信息以增加反演过程的稳定性和收敛速度，利用类似于叠加速度谱的斜率速度谱来拾取地震同相轴的斜率，抛开了层位反演要求拾取同一同相轴这一实际应用难度很大的条件，使拾取方便，算法稳定。通过理论试算，证明了本方法的有效性。     

Software for dynamic reconfigurable order picking systems

This paper describes an approach, conceptual framework, and software architecture for dynamic reconfiguration of the order picking system. The research and development project was sponsored by the Material Handling Research Center (MHRC), a National Science Foundation sponsored Cooperative Industry/University Research Center. The storage configuration is assumed to be an in-the-aisle order picking system in which stockkeeping units (SKUs) can occupy variable capacity storage locations and stock-splitting is allowed among zones (clusters). The product mix may include multiple product families with different life cycles, correlated demand within families and commonality of demand across families.     

油气输送管线冰堵定位检测技术的开发与应用

冬季油气输送管线的冰堵时刻威胁着高寒地区石油化工装置的安全运行，带式传感器动态应变定位检测技术的研制与开发解决了这一难题，它能迅速而准确地查找冰堵点，从而保证炼化装置的冬季正常运行。     

20CrMnTiH钢水口堵塞机理研究与解决措施

研究了转炉生产20CrMnTiH钢时连铸水口堵塞的机理，主要通过精炼造CaO—Al2O3-SiO2-CaF2系渣，保持熔渣良好的流动性和高碱度、低熔点、低氧化铁，提高吸附夹杂能力并针对引起水口堵塞的物质，对钙处理、软吹及进站S含量进行严格的要求，成功解决了水口堵塞问题。     

蒙特卡洛法速度谱的自动拾取

蒙特卡洛速度谱的自动拾取采用一种非线性优化的快速方法，所得叠加速度的精度可以满足常规地震资料处理中叠加的要求，转换为层速度后可用于叠前深度偏移成象，在给定初始速度模型前提下建立优化目标函数。采用蒙特卡洛非线性优化算法，以最大相似度量准则在考虑实际地质条件前提下给出速度约束条件，对初始速度模型加以扰动，自动寻找速度谱中叠加能量的全局最优解，从而获得合理的速度模型。实际地震资料处理的应用结果表明，自动拾取速度谱比常规的人工速度谱解释工作的效率大幅度提高。在SUN Ultra60机上,仅需1h即可完成2000km的地震资料的速度谱拾取任务，而且所获得的速度模型不受人为因素影响，转换所得的层速度模型用于叠前深度偏移后，获得了满意的成象效果。     

Simulation of smoke from a burning vehicle and pollution levels caused by traffic jam in a road tunnel

Detailed analyses of smoke movement from a burning vehicle in a road tunnel have been carried out for the westbound Melbourne City Link tunnel. The time-averaged equations for velocity, pressure, temperature, and mass fraction of emissions were solved for transient condition using the CFD software FLUENT 6.0. For the analysis, a burning bus was assumed to release an equivalent energy of burning 500 l of diesel in 6 min, with vehicles upstream of the fire at a standstill. On the other hand, the vehicles downstream of the fire had enough time to escape from the tunnel through the exit portal. Due to the action of jet fans, most of the smoke was pushed downstream of the fire. The smoke had also dispersed about 55 m upstream of the fire, putting the passengers in this region at great risk. The emissions released from the vehicles in the jam, with their engines running, also posed a threat to human health. Within 8 min after the fire had started, the mass concentrations of O₂, CO₂ and CO were in the ranges of 0.12–0.15, 0.08–0.11 and 0.0006–0.0014, respectively. Therefore, quick evacuation of the passengers is essential in the event of a fire in the tunnel.     

磨削加工中磨削液对砂轮堵塞影响的试验分析

砂轮堵塞是影响砂轮耐用度的重要指标，磨削液在磨削加工中起到润滑、冷却、清洗等作用，对砂轮的堵塞有着较大影响．文章通过试验，分析了磨削液对砂轮堵塞的原因．     

测井储层沉积相分析

油田进入开发中后期后,储层研究工作尤为重要。沉积相控制储层的空间展布和储层的物性特征,充分利用测井资料研究沉积相是储层研究的重要手段。本文提出了测井储层沉积相分析方法:在地质分层的基础上,分析测井曲线特征,提取储层参数,进行单井沉积相划分,最后根据沉积学理论和油田具体地质背景编制沉积相带平面图。利用此方法对辽河油田更黄66井区进行了测井储层沉积相分析工作,作为最终成果的沉积相带平面图能够指导油田部署开发井。