小尺寸、单分散Cd2+掺杂β-NaLuF∶Yb,Er上转换纳米晶的合成

采用改进高温热分解法合成了Cd2+掺杂NaLuF4∶Yb,Er纳米晶体,研究了Cd2+对晶相形成和发光强度的影响,采用CASTEP计算不同掺杂浓度下β-NaLuF4∶Yb,Er的形成能.在掺杂浓度为6mol;时合成的纳米晶荧光强度最强,其相较于未掺杂时增加了2.6倍,此时平均尺寸为23 nm左右.随后通过控制添加合适比例和含量的分散剂,解决了晶体易团聚的问题,得到了平均尺寸为18 nm的结晶度高、分散性好的上转换纳米晶.通过二氧化硅壳层的包覆,降低了Cd2泄露引起的毒性反应,表明在浓度较低时呈现出低毒性,满足了上转换纳米晶在医用材料领域应用的要求.     

Study on welded seam recognition using circular laser vision sensor

A novel visual robotic arc welding system based on circular laser vision sensor is developed.After image de-noising,image segmentation,and image thinning,the relation of depth value of workpiece and off-axis angleγ,three-dimensional(3D)calculation,and seam tracking experiments are carried out.Finally,the error for seam tracking system is analyzed.The results show that 1)3D information can be obtained using the proposed visual robotic arc welding system and the real-time seam tracking is realized;2)the seam tracking error is small enough for gas tungsten arc welding(GTAW)process,and this system can be used for seam location and seam tracking or seam finder.     

手性固定相HPLC法拆分3-叔丁基己二酸对映体

用苯胺对3-叔丁基己二酸对映体进行柱前衍生后,在CHIRALCEL OD-H手性固定相上拆分,并通过二极管阵列紫外检测器和在线旋光检测器对其衍生物进行检测,首次建立了一种拆分3-叔丁基己二酸消旋体和测定3-叔丁基己二酸光学纯度的新方法。考察了流动相组成、柱温和流速对该对映体衍生物分离的影响。结果表明,3-叔丁基己二酸衍生物对映体在正己烷-异丙醇(体积比90∶10)为流动相,流速为1.0 mL.min-1,柱温为30℃时,分离效果最佳。在优化的实验条件下,分析在10 min内完成,分离因子和分离度均大于1.5。在质量浓度为2~160 mg/L范围内,(+)-3-叔丁基己二酸衍生物和(-)-3-叔丁基己二酸衍生物的回归方程分别为y1=2 116.4x1-3 541.3(r12=0.999 4)和y2=2 097.6x2-4 774.1(r22=0.999 1)。该方法操作简单、重复性好,可用于3-叔丁基己二酸对映体的质量控制。     

Mathematical model for light scanning system based on circular laser

A novel light scanning system based on circular laser trajectory for welding robot is developed. With the help of image processing technique, intelligent laser welding could be realized. According to laser triangulation algorithm and Scheimpflug condition, mathematical model for circular laser vision is built. This scanning system projects circular laser onto welded seams and recovers the depth of the welded seams, escapes from shortcomings of less information, explains ambiguity and single tracking direction inherent in "spot" or "line" type laser trajectory. Three-dimensional (3D) model for welded seams could be recognized after depth recovery. The imaging error is investigated also.     

利用环形激光视觉传感的焊缝三维恢复

为了实现复杂条件下的焊缝检测与跟踪,通过激光扫描技术,开发了环形激光视觉传感器,与机器人手爪一起构成焊接机器人"手-眼"系统,从而获得焊缝三维信息。改善了传统的点状或线条状激光视觉传感器信息量少、解释模糊以及跟踪方向单一等问题。研究了用于焊缝定位与跟踪的环形激光视觉传感器系统的内外参量标定,提出了实现焊缝三维计算的模型,最后,以对接接头、搭接接头、角接接头为对象进行了试验验证,并对标定精度进行了分析。结果表明:环形激光在不同的焊缝表现了不同的形态,结合标定试验结果,能够计算被检测焊缝的三维坐标,计算精度能够满足试验要求。     

新型苯并噻唑类离子液体的合成及其理化性质研究

以苯并噻唑为原料,采用"一锅"法合成了一系列新型的苯并噻唑类离子液体,其结构经1H NMR和MS表征。系统考察了其密度、溶解性、电导率、吸水性等理化性质,发现了其结构对理化性质有不同程度的影响。