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。     

一种基于经验模态分解的永久散射体探测方法

基于经验模态分解(EMD),提出了一种改进的永久散射体(PS)探测方法。对干涉图进行多尺度分解,基于梯度的自适应滤波对分解的本征模函数中的噪声进行低信噪比区域强滤波和高信噪比区域弱滤波,估算滤波后各PS候选(PSC)点的噪声相位。基于各PSC点的幅度和相位稳定性,对选取的PSC点的相位信息进行分析,判断其作为PS点的概率,进而选取可靠的PS点。实验结果表明:与传统的PS点选取方法相比,所提方法避免了探测过程中PS点的误判和漏判,准确性更高。     

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.     

密集颗粒体系的颗粒运动及结构测量技术

颗粒材料由大量粗颗粒堆积形成, 是复杂的多体相互作用体系, 呈现出颗粒尺度的结构不均匀和动力学不均匀性的基本特征, 这决定了颗粒材料具有很多独特的宏观性质. 借鉴学科历史的发展途径, 基于统计力学, 从颗粒结构和动力学开始建立颗粒材料体系的宏观连续介质力学理论框架是必然途径.但是, 颗粒材料的基本特征决定了从基本理论到实验手段上, 表征与建立颗粒材料结构与性能的相关性都极其困难.这是由于现有测试分析手段所描述的颗粒系统组织结构过于简单化, 缺乏对颗粒结构和动力学的真正认识, 从而制约了颗粒物质研究的发展.因此, 开展颗粒体系结构和动力学性质的测量, 是理解和认识颗粒材料重要物理和力学问题的基础和依据.笔者来自不同的科研院所, 近十年来开展了颗粒体系结构和动力学性质的测量研究, 主要集中于以下两个方向: (1)数字图像测速法、散斑能见度光谱法和X射线- CT等非侵入式测量技术在颗粒运动方面的应用; (2)体积响应谱、力学谱(有效质量和内耗等)和声速测量技术等直接或间接测量颗粒接触力和颗粒结构技术.本文综述了这些实验手段的基本原理及其特点、取得的主要成果, 以及国际最新进展和困难. 最后是对全文的总结, 结合笔者开展测量的经验和教训, 提出了自己的看法, 并试图展望颗粒材料测量技术研究的前景.