Development of human-machine interface for teleoperation of a mobile manipulator

Human-robot control interfaces have received increased attention during the past decades for conveniently introducing robot into human daily life. In this paper, a novel Human-machine Interface (HMI) is developed, which contains two components. One is based on the surface electromyography (sEMG) signal, which is from the human upper limb, and the other is based on the Microsoft Kinect sensor. The proposed interface allows the user to control in real time a mobile humanoid robot arm in 3-D space, through upper limb motion estimation by sEMG recordings and Microsoft Kinect sensor. The effectiveness of the method is verified by experiments, including random arm motions in the 3-D space with variable hand speed profiles.     

外磁场激励下管道弱磁应力内检测特性研究

弱磁应力检测技术支持非接触在线应力损伤检测,在长输油气管道应力内检测技术领域具有巨大的应用潜力。但弱磁信号微弱,易受外界环境干扰,检测结果易出现偏差。为加强弱磁信号的检测能力,基于铁磁材料的微观特性,建立了外磁场弱磁应力检测模型,获得了弱磁信号强度随外磁场强度与施加应力的变化规律,描述了外磁场对弱磁应力检测信号的激励特性,并进行了系统的实验研究。结果表明,弱磁信号的切向峰值与法向零点均位于应力集中区的中心位置,且不随应力与外磁场的变化而发生波动;弱磁信号切向峰值与法向峰峰值随外磁场与应力的增加而增大;外磁场对弱磁应力检测信号的激励作用随外磁场的增加先增大后减小。     

无机复合混凝剂ISF-01处理日用化学工业废水的研究

研究了新型无机复合混凝剂ISF-01对日用化学工业废水的絮凝、破乳效果及混凝剂用量和体系pH值对混凝效果的影响,并与其它无机絮凝剂进行了比较。试验结果表明．ISF-01混凝剂有较宽的pH适用范围,对日用化学工业废水具有良好的混凝效果,与传统混凝剂相比,它具有破乳性能好、投药量少、絮体沉降速度快、上清液透光性能好的特点。     

焙烧法水热合成5A沸石分子筛

焙烧活化化工原料氢氧化钙、氢氧化钠、硅酸钠和二氧化硅，探索焙烧法水热合成5A沸石分子筛的条件。并通过X射线粉末衍射(XPS)和扫描电镜(SEM)对产品进行表征。焙烧原料合成5A沸石分子筛的优化条件为焙烧温度550 ℃, 焙烧时间4 h, 晶化时间4 h。     

非晶态NiB配位催化2-亚丁基环己酮的选择加氢动力学研究

以超细非晶态NiB为催化剂、乙醇为溶剂 ,研究了常压条件下 2 -亚丁基环己酮的选择催化氢化反应。确定了反应对 2 -亚丁基环己酮的反应级数n =1,80℃下准一级反应的速率常数为k =3.4× 10 -3 min-1。同时考察了氢化过程中外扩散的影响以及温度、催化剂用量对反应的影响。求得反应的活化能Ea =16 .391kJ/mol。     

Braking Behavior of C/SiC Composites Prepared by Chemical Vapor Infiltration

Carbon fiber-reinforced silicon carbide matrix composites have the potential to overcome the shortcoming of the currently used carbon/carbon friction materials in aircraft brakes. In this article, the carbon/silicon carbide (C/SiC) composites were prepared by chemical vapor infiltration method, and the brake disks with different densities and component content were finally obtained. The friction coefficient and friction stability can be significantly improved by increasing both material density and carbon content. When the density of C/SiC composite is 2.3 g/cm³, the coefficient of friction measured is 0.23, the coefficient of friction stability remains about 0.43, the liner wear rate is less than 9.3 μm/cycle, and the weight wear rate is less than 9.1 μm/cycle. The rapid increase of friction coefficient approaching the end of braking is mainly related to the increasing of surface temperature in a short time and the enhanced adhesion and abrasion of contact conjunctions and asperities. The C/SiC composites exhibited a good stability of braking against fading versus the braking number and surface temperature. The surfaces of C/SiC brake disks were covered with wear debris including the fragment of carbon fibers after the braking tests. The wear on the surfaces is significantly determined by cyclic mechanical and thermal stresses, which result in the micro-cracks in the SiC matrix, the thin flakes of the surface materials as well as the grooves.     

腐植酸生物活性影响植物根系发育的研究

介绍了腐植酸(HA)对植物根系的刺激作用，并以详实的数据说明三种不同腐植酸、黄腐酸在不同浓度下所具有的生物活性。为更加合理地利用腐植酸提供参考，是评价腐植酸原料生长调节性能的主要方法之一，对泥炭、风化煤及褐煤资源在农业上的应用起重要的指导作用。     

“2016·7”清江流域洪水调度方案分析

2016年7月,清江流域发生了特大洪水,湖北省防汛抗旱指挥部认真研究、贯彻、落实防洪决策部署,把保障人民群众生命财产安全放在首位,反应迅速、调度灵活。经过对汛情进行研究分析,制定出了相应的措施,即采取预泄腾库迎洪、汛中错峰拦洪、汛末适时收水等,取得了清江特大洪水防御的阶段性胜利。对"2016·7"清江洪水调度方案及措施的制定、落实情况进行了总结分析,可为今后清江流域防洪调度工作提供借鉴与参考。     

保护地蔬菜(大白菜、黄瓜)施用腐植酸生物液体肥效果的研究

本文介绍了腐植酸生物液体肥在保护地蔬菜作物上的应用效果，并以详实的数据与常用化肥(如尿素、硫酸钾、二铵)进行对比，说明施用腐植酸生物液体肥后，作物的产量、品质均有较大提高，特别是对改良土壤、提高土壤有机质含量、降低土壤盐分含量、增加土壤孔隙度效果显著。是生产绿色蔬菜必备肥料之一。     

基于用户评价驱动的可信Web服务发现

随着Web服务技术的快速发展,如何请求和选择可信服务成为了非常重要的研究课题,即可信服务发现。本文提出了一种新的基于用户评价的Web服务发现方法．通过计算当前一段时间内多个用户对Web服务的反馈值,来判断Web服务所声明QoS的真实性,从而选择出更具可信度的Web服务。实验表明该方法具有有效性。