基于遗传算法的变电站巡检机器人任务路径规划方法研究

近年来,随着变电站巡检机器人在变电站中的广泛使用,巡检机器人路径规划问题越来越成为亟待解决的问题。巡检机器人在已知的拓扑地图中标记了待执行巡检任务的停靠点,不同任务需要从初始点出发经过不同的一系列停靠点再返回初始点,如何规划路径是机器人面临的问题。首先分析了路径规划面临的问题,然后通过分析拓扑地图的特征,对地图进行等价简化,再对问题进行建模使用遗传算法求解巡检任务路径规划的近似最优解。通过仿真实验证明,提出的基于遗传算法的路径规划方法是可行有效的,为变电站巡检机器人任务路径规划提供了一种有效方法。     

Large-scale fabrication of polymer/Ag core–shell nanorod array as flexible SERS substrate by combining direct nanoimprint and electroless deposition

We demonstrate a highly sensitive surface-enhanced Raman scattering (SERS) substrate, which consists of Ag nanoparticles (NPs) assembled on the surface of a nanopatterned polymer film. The fabrication route of a polymer/Ag core–shell nanorod (PACSN) array employed a direct nanoimprint technique to create a high-resolution polymer nanorod array. The obtained nanopatterned polymer film was subjected to electroless deposition to form a sea-cucumber-like Ag shell over the surface of the polymer nanorod. The morphology and structures of PACSNs were analyzed by using scanning electron microscopy and X-ray diffraction. The as-synthesized PACSNs exhibited a remarkable SERS activity and Raman signal reproducibility to rhodamine 6G, and a concentration down to 10^?12 M can be identified. The effect of electroless deposition time of Ag NPs onto the polymer nanorod surface was investigated. It was found that the electroless deposition time played an important role in SERS activity. Our results revealed that the combination of direct nanoimprint and electroless deposition provided a convenient and cost-effective way for large-scale fabrication of reliable SERS substrates without the requirement of expensive instruments.     

光学条纹相机时间扫描性能应用

对相机全屏扫速性能进行了系统分析,发现基于相机整体的平均扫速及扫速非线性处理扫描时间的传统方法不能反映相机空间畸变现象,并且扫速非线性放大了数据处理不确定度,从而降低了相机应用价值。建立了一套基于全屏扫速及扫速不确定度的扫描时间精细处理方法,它自洽消除了相机的空间畸变和扫速非线性的系统性影响。开展了理论分析和验证实验,结果表明:精细处理方法很容易使扫描时间数据处理相对不确定度降低到1%以内,显著提高了条纹相机时间扫描精度和应用可靠性。     

Efficient laser operation of Yb:Lu3Ga5O12 garnet crystal

Efficient laser operation is demonstrated at room temperature with a new Yb:Lu3Ga5O12 garnet crystal. A continuous-wave output power of 5.36 W is generated at a center oscillation wavelength of 1041 nm, with an optical-to-optical efficiency of 51% and the slope efficiency of 63%. In passively Q-switched operation, the maximum average output power reaches 4.0 W (center wavelength of 1034 nm) at a repetition rate of 71 kHz, with optical-to-optical and slope efficiencies measured to be 40% and 50%, respectively. Laser pulses of 26 ns duration are generated with a pulse energy of 91 μJ and peak power of 3.5 kW.     

High-power ultraviolet 278 nm laser from fourth-harmonic generation of a Nd:YAG laser in CsB3O5

We demonstrate a high-power UV 278 nm laser by fourth-harmonic generation (FHG) of a 1112 nm Nd:YAG laser in a nonlinear optical (NLO) crystal CsB3O5 (CBO) for the first time, to our best knowledge. A 30 W level diode-pumped Q-switched Nd:YAG laser at 1112 nm with beam quality factor M2=1.2 was used as the fundamental light source at a pulse width of 500 ns. With an LiB3O5 crystal, the 1112 nm laser was first frequency-doubled to 556 nm with an average output power of 13.5 W. It was then frequency doubled again in a CBO crystal to obtain the FHG output at 278 nm. The maximum average output power of the 278 nm laser is up to 1.5 W. The results demonstrated that CBO crystal is a promising NLO material for UV high-power lasers below 300 nm.     

Continuous production of glass-coated microwires and the applications for broadband noise suppression composite sheets

A system and a method were developed for continuous production of glass-coated microwires with controllable glass thickness and metallic core diameter. Fe-Si-Al flakes were fabricated by planetary ball milling using ethanol as a dispersant. A composite noise suppression sheet was prepared with glass-coated microwires combined with Fe-Si-Al flakes. The characteristics of the conduction noise suppression of the composite sheet were evaluated on a microstrip line in gigahertz frequencies. The conduction electromagnetic noise was effectively suppressed by the composite sheet in broad-band frequency region; the power loss is greater than 70% in the frequency range from 0.7 to 8.5 GHz.     

A ligand exchange strategy for one-pot sequential synthesis of (hyperbranched polyethylene)-b-(linear polyketone) block polymers

Upon the addition of an equimolar amount of 2,2'-bipyridine, a cationic Pd-diimine complex capable of facilitating "living" ethylene polymerization is switched to catalyze "living" alternating copolymerization of 4-tertbutylstyrene and CO. This unique chemistry is thus employed to synthesize a range of well-defined treelike (hyperbranched polyethylene)-b-(linear polyketone) block polymers.     

Novel acenaphthopyrazine derivatives as antitumor agents against MCF-7 cells: molecular synthesis, optical properties, and DNA-binding studies

Abstract  

A series of novel acenaphthopyrazine derivatives was synthesized from acenaphthylene-1,2-dione via three steps, including bromination, cyclization, and S_NAr^H reaction. These new compounds exhibited potential antiproliferative activity against MCF-7 cells in vitro, and 3-[2-(dimethylamino)ethylamino]acenaphtho[1,2-b]pyrazine-8,9-dicarbonitrile exhibited the highest activity (IC ₅₀ = 4.60 μM). DNA-binding experiments suggested that these derivatives bind to DNA through intercalation with intrinsic binding constants K all above 10⁵ M⁻¹. Optical property studies indicated that these compounds have long emission wavelength (λ _em > 560 nm), high quantum yields in toluene (Φ_f = 0.59 for 3-(morpholin-4-yl)acenaphtho[1,2-b]pyrazine-8,9-dicarbonitrile), and large Stokes shift (ΔS > 130 nm).     

电泳和质谱技术研究4种胰脏铁蛋白的亚基类型和等电点特性

采用电泳和质谱技术对所制备的鸡、鸭、牛和猪胰脏铁蛋白的亚基类型和等电点特性进行了研究。采用天然聚丙烯酰胺凝胶电泳(PAGE)技术研究的结果表明,上述4种铁蛋白呈现不同的迁移率,据此可知鸡胰铁蛋白的相对分子质量(Mr)>鸭胰铁蛋白的Mr>黄牛胰铁蛋白的Mr>猪胰铁蛋白的Mr,而且均大于马脾铁蛋白(HSF)的Mr。采用十二烷基硫酸钠(SDS)-PAGE技术研究的结果表明,上述4种铁蛋白均由H(heavy chain)和L(light chain)类型的亚基组成,但H和L亚基的相对数量（即H/L亚基数量的比值）有差别。采用肽指纹图谱技术分别鉴定各铁蛋白的H和L亚基。选用变性等电聚焦方法研究发现,上述4种铁蛋白分别由3～6种不同等电点的亚基聚合体组成,说明铁蛋白的H和L亚基之间呈现复杂的相互作用和不同的聚合体。不同陆生动物胰脏铁蛋白亚基之间相互作用的强度和聚合态存在着差异,这一差异特性可能与调控铁蛋白释放铁的速率有关,也与动物对铁的需求和铁解毒速率有关。     

一次性固相微萃取-高效液相色谱法测定环境水样中的3种多环芳烃

以涂有聚二甲基硅氧烷(PDMS)的石英光导纤维作为固相微萃取纤维,建立了一次性固相微萃取与高效液相色谱联用测定环境水样中的菲、荧蒽和屈3种多环芳烃(PAHs)的方法。实验考察了解吸时间、萃取时间、搅拌速度、盐效应以及样品溶液pH值对萃取效率的影响,优化得到的萃取和解吸条件为: 于60 mL样品溶液中放入两段萃取纤维(1.5 cm)和1.2 g氯化钠,在1200 r/min搅拌速度下萃取60 min,取出萃取纤维并转入120 μL甲醇中密封静置解吸24 h后,取20 μL解吸液进行液相色谱测定。该方法对于菲、荧蒽和屈的检出限分别为0.17、0.17和0.08 μg/L;精密度(以测定0.5 μg/L PAHs标准溶液6次的相对标准偏差计)小于8%;实际样品中3种PAHs的加标回收率为80.0%～107%。该方法快速简便,纤维一次性使用,克服了污染物在纤维上残留的问题。