A lightweight autonomous MAV for indoor search and rescue

Micro Aerial Vehicles (MAVs) have great potentials to be applied for indoor search and rescue missions. In this paper, we propose a modular lightweight design of an autonomous MAV with integrated hardware and software. The MAV is equipped with the 2D laser scanner, camera, mission computer and flight controller, running all the computation onboard in real time. The onboard perception system includes a laser‐based SLAM module and a custom‐designed visual detection module. A dual Kalman filter design provides robust state estimation by multiple sensor fusion. Specifically, the fusion module provides robust altitude measurement in the circumstance of surface changing. In addition, indoor‐outdoor transition is explicitly handled by the fusion module. In order to efficiently navigate through obstacles and adapt to multiple tasks, a task tree‐based mission planning method is seamlessly integrated with path planning and control modules. The MAV is capable of searching and rescuing victims from unknown indoor environments effectively. It was validated by our award‐winning performance at the 2017 International Micro Air Vehicle Competition (IMAV 2017), held in Toulouse, France. The performance video is available on https://youtu.be/8H19ppS_VXM .     

复合管膜的润湿性及过滤污水机理

为了研究多孔复合管膜对钢铁产业污水的过滤性能及其过滤机理，采用静滴法做了水滴和油滴在复合管膜上的润湿性研究。采用扫描电镜、EDS等手段分析了使用前后的多孔复合管膜外壁及内壁的结构及成分，分析了含油污水中固体颗粒及油的过滤机理，并利用视频光学接触角测量仪测量水滴和油滴在复合管膜上接触角随时间的变化速率。结果表明，在污水过滤过程中，水中小于管膜表层微孔孔径的氧化铁等杂质进入复合管膜内部，无法随水流穿过复合管膜膜层，积累在管膜内部；随着管膜使用时间延长，氧化铁等杂质在复合管膜内部积累量增多。水在复合管膜上的润湿性良好，油滴在复合管膜上是不润湿的。     

Hierarchical Attention for Part-Aware Face Detection

International Journal of Computer Vision - Expressive representations for characterizing face appearances are essential for accurate face detection. Due to different poses, scales, illumination,...     

中国智能机械制造评价及发展研究

以中国规模以上工业企业数据库为基础，结合在智能制造主要区域调研的结果，筛选出15145家智能制造企业，经同行评议后，生成322家候选企业名单；再由资深产业专家从“开发式创新”和“探索式创新”两个方面去考察候选企业的能力，得到中国智能制造百强排行榜；随后根据行业分类，得到智能机械制造企业排行榜。在概述了智能机械制造上榜企业的基本情况后，着重分析了前20强企业，并提出了中国智能机械制造发展路径和未来的发展趋势。     

浅谈液压夹具在转向油缸铸造缸盖加工上的应用

随着液压夹具在机械加工中运用推广,该公司引用液压夹具多年来取得一定成效,文章针对转向油缸的铸造缸盖铣、钻序前后加工工装进行对比分析,重点突出应用全自动液压夹具后可提升装夹效率、加工质量以及降低劳动强度等,可以在不添置设备的情况下,满足产能提升的需求。     

Experimental investigation of far-field human cough airflows from healthy and influenza-infected subjects

Seasonal influenza epidemics have been responsible for causing increased economic expenditures and many deaths worldwide. Evidence exists to support the claim that the virus can be spread through the air, but the relative significance of airborne transmission has not been well defined. Particle image velocimetry (PIV) and hot-wire anemometry (HWA) measurements were conducted at 1 m away from the mouth of human subjects to develop a model for cough flow behavior at greater distances from the mouth than were studied previously. Biological aerosol sampling was conducted to assess the risk of exposure to airborne viruses. Throughout the investigation, 77 experiments were conducted from 58 different subjects. From these subjects, 21 presented with influenza-like illness. Of these, 12 subjects had laboratory-confirmed respiratory infections. A model was developed for the cough centerline velocity magnitude time history. The experimental results were also used to validate computational fluid dynamics (CFD) models. The peak velocity observed at the cough jet center, averaged across all trials, was 1.2 m/s, and an average jet spread angle of θ = 24° was measured, similar to that of a steady free jet. No differences were observed in the velocity or turbulence characteristics between coughs from sick, convalescent, or healthy participants.     

钙长石系尾矿微晶玻璃的制备及发光性能

以钼尾矿、铁尾矿和铜尾矿等为主要原料,采用烧结法制备了钙长石系微晶玻璃。采用X射线衍射仪(XRD)、差热扫描量热仪(DTA)表征了结构和性能,研究了Eu~(3+)在微晶玻璃中的发光性能。结果表明,采用一步法制备钙长石微晶玻璃:较佳熔制温度为1450℃,Eu_2O_3在掺杂浓度0.1%时荧光强度最好,当晶化温度到1050℃时荧光强度最强,Eu~(3+)的有效激发波长为415 nm,发射波长为591 nm的橙-红光。     

Synthesis and performance of TiB2–B4C composites by high pressure of TiC–B mixture

TiB₂–B₄C composites were in situ synthesized and consolidated by high pressure synthesis method from a mixture of TiC and B powders at the pressure and temperature of 5.0 GPa and 1500℃-1900℃. The phase composition, microstructure, density, hardness, thermal conductivity, and electrical resistivity of TiB₂–B₄C composites were analyzed. As the increase in the synthesis temperature, the products were TiB₂ and B₄C phases and that crystallinity improved. TiB₂–B₄C composites were dense without obvious pores. TiB₂–B₄C composites synthesized at 1800℃ obtained the optimized performance, including the relative density of 98.2%, the Vickers hardness of 31.7 ± 1.2 GPa with the load of 9.8 N, the thermal conductivity of 30.3 ± 0.7 W/(m K), and the electrical resistivity of 3.3 × 10⁻³ Ω cm, respectively. The grain size of the TiB₂–B₄C composites changed with the increase in synthesis temperature, leading to the changes in hardness, thermal conductivity, and electrical resistivity.     

工程水压爆破在煤层爆破中的应用

通过黑岱沟露天煤矿的工程试验总结了工程水压爆破技术(水土复合填塞炮孔)的原理及在露天煤矿爆破施工中的应用效果。在露天煤矿爆破施工中采用工程水压爆破技术,可以提高煤层爆破的大块率,降低单位立方岩石耗药量,降低爆破气体的温度,同时可以降低煤层爆破失火率、粉尘排放量,有效地控制爆破飞石。