对称向量拟均衡问题有效解的存在性

利用标量化方法建立对称向量拟均衡问题有效解的存在性定理。作为标量化方法的应用，利用这一方法得到向量变分不等式和拟向量变分不等式有效解的存在性定理。     

基于步态切换的欠驱动双足机器人控制方法

由于高维、非线性、欠驱动等特点, 3-D双足机器人的稳定性控制依然是一个研究难点. 一些传统的控制方法, 如基于事件的反馈控制方法和PD控制方法, 抗扰动能力较弱, 鲁棒性较差. 通过观察, 人类受到外部扰动影响时, 会通过调整步态重新获得稳定性,相较之下仅依靠一个步态获得的稳定性是有限的. 受此启发, 本文针对上述问题提出一种基于步态切换的欠驱动3-D双足机器人控制方法. 首先, 以能耗最少为优化目标, 通过非线性优化方法预先设计多组不同步长、步速的步态作为参考步态, 以构建一个步态库; 然后, 通过综合考虑步态切换过程中的稳定性与能效, 建立了多目标步态切换函数; 最后, 将该步态切换函数作为优化目标, 并求解该最小化问题获得下一步的参考步态, 从而实现步态切换, 达到使用步态库?多轨迹方法来提高鲁棒性的目的. 在仿真实验中运用该步态切换控制方法, 欠驱动3-D双足机器人可实现相对高度在[-20, 20] mm内随机变化的不平整地面上行走, 而仅采用单步态控制策略则无法克服这样的外部扰动, 从而说明了基于步态切换的欠驱动双足机器人控制方法的有效性.      

基于NiCo2O4纳米片电极的非对称混合电容器

The looming global energy crisis and ever-increasing energy demands have catalyzed the development of renewable energy storage systems. In this regard, supercapacitors (SCs) have attracted widespread attention because of their advantageous attributes such as high power density, excellent cycle stability, and environmental friendliness. However, SCs exhibit low energy density and it is important to optimize electrode materials to improve the overall performance of these devices. Among the various electrode materials available, spinel nickel cobaltate (NiCo₂O₄) is particularly interesting because of its excellent theoretical capacitance. Based on the understanding that the performances of the electrode materials strongly depend on their morphologies and structures, in this study, we successfully synthesized NiCo₂O₄ nanosheets on Ni foam via a simple hydrothermal route followed by calcination. The structures and morphologies of the as-synthesized products were characterized by X-ray diffraction, scanning electron microscopy, and Brunauer-Emmett-Teller (BET) surface area analysis, and the results showed that they were uniformly distributed on the Ni foam support. The surface chemical states of the elements in the samples were identified by X-ray photoelectron spectroscopy. The as-synthesized NiCo₂O₄ products were then tested as cathode materials for supercapacitors in a traditional three-electrode system. The electrochemical performances of the NiCo₂O₄ electrode materials were studied and the area capacitance was found to be 1.26 C·cm^-2 at a current density of 1 mA·cm^-2. Furthermore, outstanding cycling stability with 97.6% retention of the initial discharge capacitance after 10000 cycles and excellent rate performance (67.5% capacitance retention with the current density from 1 to 14 mA·cm^-2) were achieved. It was found that the Ni foam supporting the NiCo₂O₄ nanosheets increased the conductivity of the electrode materials. However, it is worth noting that the contribution of nickel foam to the areal capacitance of the electrode materials was almost zero during the charge and discharge processes. To further investigate the practical application of the as-synthesized NiCo₂O₄ nanosheets-based electrode, a device was assembled with the as-prepared samples as the positive electrode and active carbon (AC) as the negative electrode. The assembled supercapacitor showed energy densities of 0.14 and 0.09 Wh·cm^-3 at 1.56 and 4.5 W·cm^-3, respectively. Furthermore, it was able to maintain 95% of its initial specific capacitance after 10000 cycles. The excellent electrochemical performance of the NiCo₂O₄ nanosheets could be ascribed to their unique spatial structure composed of interconnected ultrathin nanosheets, which facilitated electron transportation and ion penetration, suggesting their potential applications as electrode materials for high performance supercapacitors. The present synthetic route can be extended to other ternary transition metal oxides/sulfides for future energy storage devices and systems.     

石油产品酸值测定仪校准方法

通过分析石油产品酸值测定仪工作原理,参考相应的国家技术规范,建立石油产品酸值测定仪的校准方法。使用酸值(以KOH计)为(0.11±0.03) mg/g的酸值标准物质对以颜色指示剂法为原理的石油产品酸值测定仪进行校准,设定校准项目:示值误差为–0.01 mg/g;重复性为0.02 mg/g。对石油产品酸值测定仪示值误差测量结果的不确定度进行评定,扩展不确定度为0.04 mg/g(k=2)。该校准方法计量特性满足校准要求,可用于评价石油产品酸值测定仪的性能。     

巴基斯坦Mw≥5.8地震时空对称与旋转规律研究及趋势判断

灾害预测是世界难题，选取1966年以来巴基斯坦M_w≥5.8地震数据，基于可公度理论和对称性原理，采用蝴蝶结构图和灾害统计方法分析了巴基斯坦M_w≥5.8地震的时空对称性，对下一次发生地震的位置进行趋势判断，并结合可能触发地震的主要天文因素，从地震触发机理上验证了判断结果的可靠性。 结果表明：（1）巴基斯坦M_w≥5.8历史地震可公度性良好，2018、2019年发震信号较强；（2）巴基斯坦M_w≥5.8地震在空间上呈三边形对称结构，震中空间变化具有两点线空间迁移规律和空间旋转规律，且在70.9 °E～77.7 °E，31.5 °N～37 °N发生M_w≥5.8地震的可能性较大；（3）巴基斯坦M_w≥5.8地震多发生在太阳黑子数下降段，这也进一步佐证了2018、2019年该地区发生地震的可能性。 该研究对完善统计方法，验证统计案例有重大意义，对巴基斯坦防灾减灾有参考价值。     

Ostrowski-Taussky不等式的推广

行列式的概念是矩阵分析中的一个很基本的概念,其中一个非常重要的应用就是解线性方程组.由于行列式的概念是和矩阵特征值紧密相关的,研究行列式的一些性质可以从侧面反映出该矩阵特征值的一些性质.Ostrowski-Taussky不等式是一个关于行列式的不等式,利用矩阵极分解的概念,给出了不等式的一个新的证明,并且推广了不等式.     

冷冻法硝酸磷肥工艺中酸不溶物提纯研究

采用酸浸、磁选酸浸、水淬/研磨酸浸等不同工艺对冷冻法硝酸磷肥生产工艺中的废渣-酸不溶物进行了提纯处理,利用X射线荧光光谱仪(XRF测试)对酸不溶物提纯前后各成分含量的变化进行了分析,从中得出了不同工艺流程对酸不溶物纯度的影响,最终确定了最佳的酸不溶物处理工艺.结果表明:在酸浸实验中,盐酸酸浸效果最佳,可将酸不溶物中SiO2纯度达到82.43;;在酸浸工艺前加入磁选、水淬、研磨的工序均可有效提升酸不溶物的提纯效果;冷冻法硝酸磷肥工艺中酸不溶物最佳的提纯工艺路线为:干燥、筛分、水洗、磁选、研磨、盐酸酸浸,处理后酸不溶物中SiO2纯度达到88.92;,符合微硅粉的生产要求.     

逻辑函数高阶布尔e偏导数求解算法的实现

针对已有方法在求解布尔e偏导数时只能解决小规模电路的问题,提出了一种基于逻辑函数不相交运算的大函数高阶布尔e偏导数的求解算法.该方法将逻辑函数转化为不相交乘积项的集合,用逻辑函数的不相交运算替代布尔e导数运算中的逻辑"与"运算;并将不包含待求导变量的乘积项拆分出来,不参与布尔e导数运算,以达到降低算法复杂度、提高算法速度的目的.提出的算法用C语言编程实现,并用MCNC测试电路进行了测试.实验结果显示,本算法能快速实现大函数高阶布尔e偏导数的求解,求解效率与参与不相交运算的乘积项数量有关,但对输入变量的数量不敏感.