基于旋翼负压混合吸附的爬壁清洗机器人系统动力学性能研究

针对爬壁清洗机器人越障时,负压装置的吸附力下降导致吸附不稳定的问题,设计了一种旋翼负压混合吸附工作的多边形履带清洗机器人,并对爬行稳定性及越障性能进行了动力学分析。首先根据机器人爬壁的运动原理,建立机器人沿玻璃幕墙上的动力学模型,计算出电机理论驱动力矩;其次分析机器人在跨越障碍过程中的运动模型,结合与壁面接触的实际受力状态,对越障过程中关键阶段的本体倾翻、滑移两种失效形式进行运动学和动力学分析;然后根据玻璃幕墙实际的障碍高度,确定多边形履带的参数和理论驱动力矩的大小,并研制了实验样机进行爬行和越障试验,结果表明所设计的机器人具有良好的越障性能。     

Single-Crystalline TiO2(B) Nanobelts with Unusual Large Exposed {100} Facets and Enhanced Li-Storage Capacity

The {100} facet of single-crystalline TiO₂(B) is an ideal platform for inserting Li ions, but it is hard to be obtained due to its high surface energy. Here, the single-crystalline TiO₂(B) nanobelts from H₂Ti₃O₇ with nearly 70% {100} facets exposed are synthesized, which significantly enhances Li-storage capacity. The first-principle calculations demonstrate an ab in-plane 2D diffusion through the exposed {100} facets. As a consequence, the nanobelts can significantly accommodate Li ions in LiTiO₂ formula with specific capacity up to 335 mAh g⁻¹, which is in good agreement with the electrochemical characterizations. Coating with conductive and protective poly(3,4-ethylenedioxythiophene)-poly(styrenesulfonate), the cut-off discharge voltage is as low as 0.5 V, leading to a capacity of 160.7 mAh g⁻¹ after 1500 cycles with a retention rate of 66% at 1C. This work provides a practical strategy to increase the Li-ion capacity and cycle stability by tailoring the crystal orientation and nanostructures.     

Sparse non-convex Lp regularization for cone-beam X-ray luminescence computed tomography

Cone-beam X-ray luminescence computed tomography (CB-XLCT) is an attractive hybrid imaging modality, and it has the potential of monitoring the metabolic processes of nanophosphors-based drugs in vivo. However, the XLCT imaging suffers from a severe ill-posed problem. In this work, a sparse nonconvex L_p (0?p?L₁ regularization. Further, an iteratively reweighted split augmented lagrangian shrinkage algorithm (IRW_SALSA-L_p) was proposed to efficiently solve the non-convex L_p (0?p?p-values (1/16, 1/8, 1/4, 3/8, 1/2, 5/8, 3/4, 7/8) in both 3D digital mouse experiments and in vivo experiments. The results demonstrate that the proposed non-convex methods outperform L₂ and L₁ regularization in accurately recovering sparse targets in CB-XLCT. And among all the non-convex p-values, our L_p(1/4?p?相似文献   

In-situ crystal growth and photoluminescence properties of YBO3: Tb3+ microstructures

Three-dimensional (3D) YBO₃:Tb³⁺ flower-like and dense flower-like hierarchitecture constituted of nanoflakes are solvothermally synthesized in the presence of polyborate precursors in the mixture of ethanol and water. The growth process of the YBO₃:Tb³⁺ flowers and dense flowers was explored based on the time-dependent experiment and the results showed that the growth mechanism follows an in situ growth rather than self-assembly process as reported previously. YBO₃:Tb³⁺ morphologies composed of nanoflakes are achieved by controlling the concentration of ethanol and dependence of photoluminescence on morphology was studied. Remarkable photoluminescence enhancement was observed for YBO₃:Tb³⁺ with flower-like morphology demonstrating the potential of the microstructure in future applications as a green phosphor. Such a synthetic method and growth mechanism may be applied to fabricate complex 3D architectures of other materials.     

提升机电流不平衡问题原因分析

某水泥厂钢丝胶带提升机（下文简称提升机）的驱动电机为三相异步电动机，其型号为：YE3-280M-4/90 kW，技术参数为：380 V/50 Hz/IP55/B3/F。在提升机空载试车过程中，电机三相电流出现不平衡现象，偏差达到了12%，实测三相电流数值分别为：60 A、65 A、75 A，其对应的三相电压分别为399 V、402 V、402 V。 针对上述现象，我们对产生三相电流不平衡的原因进行归纳，并对每种原因进行实验研究，最终得出了较为客观的结论。     

疏水缔合水溶性聚(丙烯酰胺/丙烯酸钠/N,N-双烯丙基十二胺)水溶液的粘度行为

采用前加碱二元胶束共聚-共水解法合成了三元疏水缔合水溶性聚合物聚(丙烯酰胺/丙烯酸钠/N,N-双烯丙基十二胺)[P(AM/NaAA/DiAC_(12))],研究了其水溶液的粘度行为。当x(DiAC_(12))=0．10%～0．40%时,在30℃、1 mol/L NaCl溶液中,其特性粘数[η]、Huggins常数K_H、粘均相对分子质量(?)分别为16．38～19．45 dL/g,0．214～0．394和8．36×10~6～10．36×10~6g/mol;K_H小于0．8,表明其分子内缔合作用较弱。P (AM/NaAA/DiAC_(12))在矿化度为19 334μg/g,盐水溶液中的表观粘度随疏水单体用量的增加而增加,随温度、剪切速率的增加而降低。在NaCl、CaCl_2的离子强度分别为1．26×10~(-3)～4．88×10~(-3)和1．07×10~(-4)～5．28×10~(-4)mol/kg的水溶液中,P(AM/NaAA/DiAC_(12))水溶液出现盐增粘现象,疏水单体用量越高,盐增粘效应越显著。     

芳烃抽提装置多产苯技术改造

为降低连续重整生成油中苯的含量,2004年中国石油乌鲁木齐石化公司对芳烃抽提装置进行了技术改造,新增脱苯塔和聚结分离塔,改造了脱戊烷塔、抽提蒸馏塔、汽提塔、抽余油水洗塔和苯塔。标定结果表明,改造后,连续重整生成油(高辛烷值汽油组分)中的苯全部被回收,石油苯产量达到96t/d,比改造前提高了92%。     

500kW／380V国产大功率变频器在钻机上的应用

针对国外变频器价格昂贵、调试周期和维修周期长等特点，我公司自主研发了可替代进口机的高性能钻机国产专用变频器。该变频器能够从零开始调速。当钻井卡钻时，能及时断开电动机，在低速提升时，能最大限度地发挥电动机的动力特性，提供220％的转矩输出。变频器具有易安装、调试、维护，性能稳定。应用中据实测数据显示，采用变频改造后，打1口井可节省柴油15t。     

语音信号的线性预测分析在DSP上的优化实现

语音信号的线性预测分析是语音压缩中的一个重要环节，占据语音压缩计算中的大部分时间，为提高语音压缩的速度，在C54x系列DSP上用汇编语言实现了语音信号的线性预测分析，并对其进行优化。最终可以使代码的运行时间减少到原来的5％左右。     

利用静电学和测量数据对碳纳米管膜场致发射规律的定量分析

碳纳米管膜的场致发射电流密度仅由它表面的宏观电场决定，无论其表面形状是平的还是半球状的。对于理想的平行板电极系统，其表面电场强度均匀（UId），发射电流密度、总电流与发射面积成正比：对于半球一平面电极系统半球形的阴极存在一个宏观场增强因子ks，一个与两极距离和球半径之比（d/r）相关的函数，其表面的平均场强为ks U/d。对于d/r=0，ks=1，d≥r的情况，ks接近于常数。对于10〈d／r〈100的情况，存在一个经验的表达式：ks=1＋0．15d/s=0．005（d／r）^2。在引入ks后，不同作者给出的平面电极系统和半球一平面电极系统碳纳米管膜的场致发射电流I与宏观表面电场强度E的关系都可以近似用-经验公式描述：I=a（E-Eo）^b，a，b为常数。该经验公式可为稳定生产的CNT膜片应用产品设计提供方便。