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.     

地层测试的压力"下滑恢复"响应分析

在油气井的试油测试资料中，压力恢复曲线有时会出现下滑现象，常被认为是施工失误所致。本文以实际资料为例，分析了“下滑恢复”的压力响应特征和影响因素，认为只在低渗透地层有可能产生“下滑恢复”现象，并提出了避免“下滑恢复”的施工建议。     

地震属性解释技术的研究及确定性分析

随着油气勘探开发的不断发展，储层预测、属性分析等技术得到了广泛的应用，在生产中取得了较好的效果。但地震属性的概念，分类方法，地震属性之间、地震属性与储层参数之间的相互关系仍较模糊，各种地震属性解释方法虽然种类繁多，但缺乏系统的研究，这使得地震属性在应用中存在较大的不确定性。文章通过系统研究地震属性的概念、储层地震响应的基本特征，提出了地震响应的核心是反映地震波在介质传播过程中的能量变化，所有能引起地震能量发生变化的介质的不均质性均可导致地震属性的变化，由此提出了一种新的地震属性分类方法，并认为大部分地震属性只是基本属性在不同域中的不同表现形式。在分析现有地震解释技术的基础上，提出了对地震属性解释的新认识，强调了地震属性对地层岩性油气藏勘探的重要性，对属性间的关系及地震属性解释技术的确定性进行了研究，提出了岩性油气藏地震解释的工作流程及对地震资料采集和处理的要求。     

声波测井换能器激发响应实验研究

声波测井换能器的激发响应由换能器振动时所表现出来的动态阻抗和激发电路参数决定。而换能器的动态（阻抗）参数随压电晶体及其装配方式（力学边界条件）改变。为了测量换能器动态参数的影响，采用声波测井仪器常用的压电晶体和升压变压器，通过改变激发脉冲宽度和直流电压进行了实验，结果发现：在换能器两端的瞬态响应中，一共有三个二阶网络响应，分别对应于不同的频率。最低的一个影响声波测井波形的基线、与换能器主频接近的一个决定激发效率以及电路与压电晶体之间的匹配关系，是激发电路设计中比较关键的，其参数可以通过导纳圆测量仪器得到。     

Fast Positive Feedback Between the Adrenocortical Stress Response and a Brain Mechanism Involved in Aggressive Behavior.

Aggressive behavior induces an adrenocortical stress response, and sudden stressors often precipitate violent behavior. Experiments in rats revealed a fast, mutual, positive feedback between the adrenocortical stress response and a brain mechanism controlling aggression. Stimulation of the aggressive area in the hypothalamus rapidly activated the adrenocortical response, even in the absence of an opponent and fighting. Hypothalamic aggression, in turn, was rapidly facilitated by a corticosterone injection in rats in which the natural adrenocortical stress response was prevented by adrenalectomy. The rapidity of both effects points to a fast, mutual, positive feedback of the controlling mechanisms within the time frame of a single conflict. Such a mutual facilitation may contribute to the precipitation and escalation of violent behavior under stressful conditions. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

快速纳秒响应二代近贴聚焦像增强器的批量生产

叙述了二代近贴聚焦像增强器批量生产所用真空设备性能及特点，同时给出了管子工艺考核结果及管子纳秒时间响应特性。工艺考核结果表明，制管工艺可靠、性能稳定，管子批量生产合格率大于70％。     

Fe3O4/PSt/TiO2多层包覆电磁响应微球的制备

首先采用分散聚合法将自制的Fe3O4磁流体和苯乙烯反应合成有磁核的Fe3O4/PSt磁性聚合物微球，然后，用非均匀成核水解反应在Fe3O4/PSt微球外包覆无定形二氧化钛，获得Fe3O4/PSt/TiO2复合微粒。用红外光谱、扫描电镜和热分析对粒子的形貌和结构进行了表征。并测试了微粒的介电性能和磁性，结果表明，所制得复合微粒有良好的电、磁响应性。     

Driver detection and recognition of lineside signals and signs at different approach speeds

A study was carried out using simulation to investigate driver responses to lineside signals and signs at various approach speeds. The objectives of the study were: (1) to find out whether train speed would significantly affect signal/sign reading; (2) to examine at which point certain types of signs or signals could be detected or recognised, and (3) to determine a speed cut-off level above which certain types of signs or signals are no longer recognisable or detectable. Fifty-seven train drivers from 12 Train Operating Companies in the UK participated in the trials. Twenty different types of lineside signs and ten types of signals were tested under six different approach speeds ranging from 100 to 350 km/h (62–218 mph). Driver performance measures were ‘time remaining to the signal/sign’ at the point of detection or recognition, and reading error rate. The results showed a significant influence of train speed on driver responses to lineside signals/signs and demonstrated a non-linear relationship between driver responses to signals/signs and approach speed. This has been used to estimate a maximum approach speed limit within which a specific signal or sign can be correctly detected or recognised. The findings and implications of the study are discussed in the paper.     

Measurement of Thermal Diffusivity at Low Temperatures Using an Optical Reflectivity Technique

An experimental arrangement has been developed for measuring the transient temperature responses and the thermal diffusivities of foil materials in the range of 10 to 300K by using the optical reflectivity technique. The cryogenic system with optical windows is designed to provide temperatures from 10 to 300 K. The front surface of a foil specimen is heated by a pulsed Nd:YAG laser. In situ measurement of the reflectivity of a continuous-wave He–Ne laser at the rear surface is conducted on the microsecond time scale. Using the temperature dependence of reflectivity, the transient temperature response is deduced. The thermal diffusivity is obtained by fitting Parker's formulae to the experimental data on temperature rise. Stainless-steel foils are chosen as samples and are studied in the region from 10 to 300 K. The accuracy is examined by comparing the present results with the theoretical temperature responses and thermal diffusivity data from the literature. Good agreement is observed.