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移动机器人自主充电算法设计

自动化应用 2025年第2期66卷 17-20,24页

作者：谭杨宋永博秦晓东张海涛同方威视技术股份有限公司北京100089

机器人自动充电使用的传感器包括红外传感器、相机传感器、激光传感器等。基于上述传感器的自主充电技术在定位精度、环境光线以及消耗时间等方面都不能满足产品级机器人的充电需求,特别是无人值守方面存在较多的不稳定性因素。提出了... 详细信息

机器人自动充电使用的传感器包括红外传感器、相机传感器、激光传感器等。基于上述传感器的自主充电技术在定位精度、环境光线以及消耗时间等方面都不能满足产品级机器人的充电需求,特别是无人值守方面存在较多的不稳定性因素。提出了一种使用激光雷达传感器的自动充电算法和自动充电桩,设计了一套自动充电流程,较好地实现了机器人自动充能能力,并实现了模块化制造。首先,使用机器人携带的导航系统TEB(Timed-Elastic-Band)导航到充电点附近;然后,切换导航方式,使用主成分分析(PCA)算法计算出V形模块顶点在机器人坐标系下的坐标,并使用附近阈值范围内的激光点与理论模型做梯度下降法求出均方误差,获得精确的V形顶点位置;最后,让机器人保持直线速度阶梯式变化,由PID控制其移动到充电桩的充电停靠位置。结果表明,所设计的自主充电算法和模块不仅能实现移动机器人的自主充电功能,而且停靠精度高、稳定可靠、成功率高、停靠所需时间短,可以方便地移植到不同类型的机器人上。

关键词：自主充电主成分分析 PID控制梯度下降法

Effects of P+Cr complex modification and solidification conditions on microstmcture of hypereutectic Al-Si alloys by wedge-shaped copper mould casting

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China Foundry 2014年第6期11卷 481-486页

作者： zhang haitao Zuo Kesheng Han Xing Shao Bo Qin Ke Cui Jianzhong Key Lab of Electromagnetic Processing of Materials Ministry of Education Northeastern University

Large and segregated primary Si particles may drastically decrease the mechanical properties of AI-Si alloys. To solve this problem, a P-Cr complex modifier was added into the alloy, and the effects of P-Cr complex modification and solidification conditions on the microstructure of hypereutectic Al-Si alloys casting produced in wedge-shaped copper mould were studied. The thermal analysis technique was applied to calculate the cooling rate during solidification. The microstructures were observed by means of optical and scanning electron microscopies. Results showed that the primary Si segregates in the as-cast hypereutectic AI-Si alloys. The segregation of primary Si can be inhibited by adding a P＋Cr complex modifier and increasing the cooling rate during solidification. The refinement of primary Si particles by P＋Cr complex modification is due to the formation of CrSi2 and AlP particles which act as the heterogeneous nuclei for the primary Si phase. The segregation of Si was also inhibited through the adherence of heavier CrSi2 particles to the primary Si particles.

关键词： hypereutectic Al-Si alloys primary silicon P-Cr complex modifier cooling rate

Multiple Alleles Encoding Atypical NLRs with Unique Central Tandem Repeats in Rice Confer Resistance to Xanthomonas oryzae pv. oryzae

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Plant Communications 2020年第4期1卷 63-74页

作者： Biaoming zhang haitao zhang Fang Li Yidan Ouyang Meng Yuan Xianghua Li Jinghua Xiao Shiping Wang National Key Laboratory of Crop Genetic Improvement National Center of Plant Gene Research(Wuhan)Huazhong Agricultural UniversityWuhan 430070China State Key Laboratory of Biocatalysis and Enzyme Engineering School of Life SciencesHubei UniversityWuhan 430062China

Plants have developed various mechanisms for avoiding pathogen invasion,including resistance(R)*** R genes encode nucleotide-binding domain and leucine-rich repeat containing proteins(NLRs).Here,we report the isolation of three new bacterial blight R genes in rice,Xa1-2,Xa14,and Xa31(t),which were allelic to Xa1 and encoded atypical NLRs with unique central tandem repeats(CTRs).We also found that Xa31(t)was the same gene as *** Xa1-2 and Xa14 conferred different resistance spectra,their performance could be attenuated by iTALEs,as has previously been reported for ***1,XA1-2,XA14,and non-resistant RGAF differed mainly in the substructure of the leucine-rich repeat *** all contained unique CTRs and belonged to the CTR-NLRs,which existed only in *** also found that interactions among these genes led to differing resistance *** conclusion,our results uncover a unique locus in rice consisting of at least three multiple alleles(Xa1,Xa1-2,and Xa14)that encode CTRNLRs and confer resistance to Xanthomonas oryzae ***(Xoo).

关键词： multiple alleles NLR resistance Xanthomonas oryzae pv.oryzae iTALE CTR

Preparation of waterborne polyurethane/β-cyclodextrin composite nanosponge by ion condensation method and its application in removing of dyes from wastewater

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Chinese Journal of Chemical Engineering 2023年第6期58卷 124-136页

作者： Shanghong Ma haitao zhang Jianbo Qu Xiuzhong Zhu Qingfei Hu Jianyong Wang Peng Ye Futao Sai Shiwei Chen State Key Laboratory of Biobased Material and Green Papermaking Qilu University of TechnologyShandong Academy of SciencesJinan 250353China Institute of Material Science and Technology Qilu University of TechnologyShandong Academy of SciencesJinan 250353China

Currently,polymer nanosponges have received extensive ***,developing new synthetic techniques for novel nanosponges remains a ***,to date,composite nanosponge adsorbents based on waterborne polyurethane(WPU)andβ-cyclodextrin(β-CD)have not been ***,a novel green method,ion condensation method,was developed in this study for the preparation of polymer nanosponge adsorbents for efficient removal of dyes from *** on the principle of charge repulsion between nanoparticles to maintain emulsion stability,waterborne polyurethane/β-cyclodextrin composite nanosponges(WPU-x,y)were prepared by coagulating the emulsions synthesized from 2,2-dimethylolpropionic acid,polypropylene glycol and hexamethylene diisocyanate as raw materials in a mixture of hydrochloric acid and anhydrous *** structure and appearance of WPU-x,y were characterized by attenuated total reflectance Fourier transform infrared spectroscopy,thermal gravimetric analyzer,scanning electron microscope and mercury intrusion *** adsorption capacity of WPU-x,y was tested by parameters such as cross-linking degree,β-CD dosage,contact time,initial dye concentration and p H *** study found that WPU-4,4.62 had the best adsorption effect on methylene blue(MB),the maximum removal rate was 93.42%,and the maximum adsorption capacity was 136.03 mg·g^(-1).Moreover,the Sips isotherm and pseudo-second-order-model were suitable for MB ***,this study provides some perspectives for the fabrication of nanosponge adsorbents.

关键词： Ion condensation Composites Nanomaterials Waterborne polyurethane(WPU) β-Cyclodextrin(β-CD) Adsorption

Microstructure and mechanical properties of C_(x)Hf_(0.25)NbTaW_(0.5) refractory high-entropy alloys at room and high temperatures

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Journal of Materials Science & Technology 2022年第2期97卷 229-238页

作者： Shiyu Wu Dongxu Qiao haitao zhang Junwei Miao Hongliang Zhao Jun Wang Yiping Lu Tongmin Wang Tingju Li Key Laboratory of Solidification Control and Digital Preparation Technology(Liaoning Province) School of Materials Science and EngineeringDalian University of TechnologyDalian 116024China School of Materials Science and Engineering Zhengzhou UniversityZhengzhou 450001China State Key Laboratory of Solidification Processing Northwestern Polytechnical UniversityXi’an 710072China

The microstructure and mechanical properties of as-cast and isothermally annealed C_(x)Hf_(0.25)NbTaW_(0.5)(x=0,0.05,0.15,0.25)refractory high-entropy alloys(RHEAs)were *** the as-cast and annealed RHEAs consisted of disordered body-centered cubic solid solution phase and metal carbide(MC)phase with a face-centered cubic crystal structure(Fm-3 m space group).The primary carbides were enriched with Hf and C elements and tended to form lamellar eutectic-like microstructure in the *** lamellar eutectic-like structure in the interdendrites would be formed from the decomposition of sub-carbide M_(2)C under the influence of Hf *** isothermal annealing,slatted carbides were precipitated on the matrix,and the distribution became more uniform with high C *** formation of carbides strongly influenced the mechanical properties both at room and high *** yield strength values of C_(x)Hf_(0.25)NbTaW_(0.5) RHEA at 1473 and 1673 K were 792 and 749 MPa,*** result had exceeded the high temperature mechanical properties of currently known ***,this RHEA exhibited high-temperature performance stability and excellent plasticity,exceeding 30 and 50%at room and elevated temperatures(above 1273 K),*** thermal deformation,carbon-containing RHEAs obtained more severe work hardening than that of ACHO RHEAs,and required greater dynamic recrystallization to achieve the dynamic equilibrium.

关键词： Refractory high entropy alloys Mechanical properties Microstructure High temperature Carbon content

Petrology and geochemistry of South Mid-Atlantic Ridge(19°S) lava flows:Implications for magmatic processes and possible plume-ridge interactions

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Geoscience Frontiers 2020年第6期11卷 1953-1973页

作者： haitao zhang Xuefa Shi Chuanshun Li Quanshu Yan Yaomin Yang Zhiwei Zhu Hui zhang Sai Wang Yili Guan Renjie Zhao Key Laboratory of Marine Sedimentology and Environmental Geology First Institute of OceanographyMinistry of Natural and ResourcesQingdaoShandong266061China Laboratory for Marine Geology Qingdao National Laboratory for Marine Science and TechnologyQingdaoShandong266061China College of Earth Science and Engineering Shandong University of Science and TechnologyQingdao266590China National Deep Sea Center Ministry of Natural and ResourcesQingdao266061China

The South Mid-Atlantic Ridge(SMAR)19°S segment,approximately located along the line of Saint Helena volcanic chain(created by Saint Helena mantle plume),is an ideal place to investigate the issue whether the ridgehotpot interaction process affected the whole *** this study,we present major and trace elemental compositions and Sr-Nd-Pb isotopic ratios of twenty fresh lava samples concentrated in a relatively small area in the SMAR 19°S *** oxides compositions show that all samples are *** contents of compatible trace elements(e.g.,Ni=239-594 ppm and Cr=456-1010 ppm)and low Fe/Mn(54-67)and Ce/Yb(0.65-1.5)ratios of these lavas show that their parental magmas are partially melted by a spinel lherzolite mantle *** software PRIMELT3,this study obtained mantle potential temperatures(Tp)beneath the segment of1321-1348℃,which is lower relative to those ridges influenced by mantle *** asthenospheric mantle beneath the SMAR 19°S segment starts melting at a depth of^63 km and ceases melting at^43 km with a final melting temperature of^1265℃.The extent of partial melting is up to 16%-17.6%with an average adiabatic decompression value of 2.6%/*** correlations of major oxides(CaO/Al2 O3)and trace elements(Cr,Co,V)with MgO and Zr show that the parental magma experienced olivine and plagioclase fractional crystallization during its ascent to the surface.87Sr/86Sr(0.702398-0.702996),143 Nd/144 Nd(0.513017-0.513177)and 206Pb/204Pb(18.444-19.477)ratios of these lavas indicate the mantle source beneath the SMAR 19°S segment is composed of a three-component mixture of depleted MORB mantle,PREMA mantle,and HIMU mantle *** simple,binary mixing results among components from plume-free SMAR MORB,Saint Helena plume and Tristan plume show that asthenospheric mantle beneath the SMAR 19°S segment may be polluted by both Saint Helena and Tristan plume enriched *** abovementioned mantle potential temperatures,together with the low Sai

关键词： Magmatic process Mantle potential temperature Crystallization pressure Plume-ridge interaction South Mid-Atlantic Ridge

Behavior Characteristics of Asphalt Components during the Process of Nano-cracks Temperature Self-healing

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Journal of Wuhan University of Technology(Materials Science) 2023年第1期38卷 149-155页

作者：张海涛 zhang Qianhui LI Ming 于腾江 College of Civil Engineering Northeast Forestry UniversityHarbin 150040China Safety Production Technology Center of Heilongjiang Province Harbin 150040China School of Architecture Engineering Weifang UniversityWeifang 261061China

In order to investigate the behavior characteristics of asphalt components during the process of nano-cracks temperature self-healing(NTS),molecular simulation technology was used to simulate the temperature self-healing of *** on the determination of asphalts(virgin asphalt and aged asphalt),the proportional changes of asphalt components were *** distribution characteristics of asphalt components were obtained by marking different components in the process of *** the same time,the rationality of the micro simulation findings was confirmed by asphalt performance tests and infrared spectroscopy *** results show that different asphalt components have different behavior characteristics in the process of *** content of asphaltene and resin plays a key role in the process of NTS,while saturation and aromatics play an active role in the temperature self-healing before and after *** NTS is the result of the comprehensive action of different components,and the self-healing efficiency is proportional to the relative molecular *** effect of aging on the NTS is also realized by changing the proportion of asphalt components.

关键词： asphalt components behavior characteristics nano-cracks temperature self-healing molecular simulation

Fluid Property Discrimination in Dolostone Reservoirs Using Well Logs

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Acta Geologica Sinica(English Edition) 2020年第3期94卷 831-846页

作者： WANG Guiwen LAI Jin LIU Bingchang FAN Zhuoying LIU Shichen SHI Yujiang zhang haitao CHEN Jing State Key Laboratory of Petroleum Resources and Prospecting China University of Petroleum(Beijing)Beijing 102249China College of Geosciences China University of Petroleum(Beijing)Beijing 102249China Research Institute of Petroleum Exploration and Development Changqing Oilfield CompanyCNPCXi’an 710018China

The Ordovician Majiagou Formation is one of the main gas-producing strata in the Ordos Basin,*** identification of hydrocarbon-bearing intervals via conventional well logs is a challenging *** study describes the litholog of Ma 5(Member 5 of Majiagou Formation)dolostones,and then analyzes the responses of various conventional well logs to the presences of natural *** lithology of the gas bearing layers is dominantly of the dolomicrite to fine to medium crystalline *** gas can be produced from the low resistivity layers,and the dry layers are characterized by high ***-density crossovers are not sensitive to the presences of natural *** addition,there are no significant increases in sonic transit times in natural gas bearing ***(nuclear magnetic resonance)logs,DSI(Dipole Sonic Imager)logs and borehole image logs(XRMI)are introduced to discriminate the fluid property in Majiagou dolostone *** gas bearing intervals have broad NMR T2(transverse relaxation time)spectrum with tail distributions as well as large T2gm(T2 logarithmic mean values)values,and the T2 spectrum commonly display polymodal *** contrast,the dry layers and water layers have low T2gm values and very narrow T2 spectrum without *** gas bearing layers are characterized by low Vp/Vs ratios,low Poisson’s ratios and low P-wave impedances,therefore the fluid property can be discriminated using DSI logs,and the interpretation results show good matches with the gas test *** apparent formation water resistivity(AFWR)spectrum can be derived from XRMI image logs by using the Archie’s formula in the flushed *** gas bearing layers have broad apparent formation water resistivity spectrum and tail distributions compared with the dry and water layers,and also the interpretation results from the image logs exhibit good agreement with the gas test *** fluid property in Majiagou dolostone reservoirs can be discriminated throug

关键词： fluid property NMR DSI image logs Majiagou Formation Ordos Basin

Plasma photonic crystal

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Frontiers of Optoelectronics 2009年第1期2卷 103-107页

作者： Wei LI Yong ZHAO Ruizhen CUI haitao zhang Department of Automation Tsinghua University Department of Precision Instruments Tsinghua University

Plasma photonic crystals are presented in this paper. A plasma photonic crystal can control the propagation of electromagnetic waves. Similar to other photonic crystals, the permittivity of a plasma photonic crystal is distributed as periodic arrays. The properties of periodic arrays of plasma can broaden the range of frequency and enhance the efficiency of beam-wave interaction. In special uses, the behavior of plasma shows that it has properties of photonic crystals.

关键词： 73\b9\16\aa\hcm0000078671.html