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Rapid development methodology of agricultural robot navigation system working in GNSS-denied environment

Advances in Manufacturing 2023年第4期11卷 601-617页

作者： Run-Mao Zhao Zheng Zhu Jian-Neng Chen Tao-Jie Yu Jun-Jie Ma guo-shuai fan Min Wu Pei-Chen Huang School of Mechanical Engineering Zhejiang Sci-Tech UniversityHangzhou310018People’s Republic of China Key Laboratory of Transplanting Equipment and Technology of Zhejiang ProvinceHangzhou310018People’s Republic of China School of Transportation Zhejiang Industry Polytechnic CollegeShaoxing312000ZhejiangPeople’s Republic of China College of Automation Zhongkai University of Agriculture and EngineeringGuangzhou510225People’s Republic of China

Robotic autonomous operating systems in global n40avigation satellite system(GNSS)-denied agricultural environments(green houses,feeding farms,and under canopy)have recently become a research hotspot.3D light detection and ranging(LiDAR)locates the robot depending on environment and has become a popular perception sensor to navigate agricultural robots.A rapid development methodology of a 3D LiDAR-based navigation system for agricultural robots is proposed in this study,which includes:(i)individual plant clustering and its location estimation method(improved Euclidean clustering algorithm);(ii)robot path planning and tracking control method(Lyapunov direct method);(iii)construction of a robot-LiDAR-plant unified virtual simulation environment(combination use of Gazebo and SolidWorks);and(vi)evaluating the accuracy of the navigation system(triple evaluation:virtual simulation test,physical simulation test,and field test).Applying the proposed methodology,a navigation system for a grape field operation robot has been *** virtual simulation test,physical simulation test with GNSS as ground truth,and field test with path tracer showed that the robot could travel along the planned path quickly and *** maximum and mean absolute errors of path tracking are 2.72 cm,1.02 cm;3.12 cm,1.31 cm,respectively,which meet the accuracy requirements of field operations,establishing the effectiveness of the proposed *** proposed methodology has good scalability and can be implemented in a wide variety of field robot,which is promising to shorten the development cycle of agricultural robot navigation system working in GNSS-denied environment.

关键词： Agricultural robot Global navigation satellite system(GNSS)-denied environment Navigation system 3D light detection and ranging(LiDAR) Rapid developing Methodology

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Proof of Two Supercongruences of Truncated Hypergeometric Series_(4)F_(3)

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Acta Mathematica Sinica,English Series 2024年第4期40卷 1015-1028页

作者： guo shuai MAO Department of Mathematics Nanjing University of Information Science and TechnologyNanjing 210044P.R.China

In this paper,we prove two supercongruences conjectured by Z.-*** via the Wilf-Zeilberger *** of them is,for any prime p>3,4F3[7/6 1/2 1/2 1/2 1/6 1 1]-1/8]-1/2≡p(-2/p)+p^(3)/4(2/p)Ep-3 (mod p^(4))where(·/p)stands f... 详细信息

关键词： Supercongruence truncated hypergeometric series Wilf–Zeilberger method Euler numbers Legendre symbol

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氢预冷涡轮发动机研究进展及关键技术

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航空发动机 2024年第1期50卷 10-19页

作者：郭恒杰贾琳渊郭帅帆韩佳西北工业大学动力与能源学院西安710129 中国航发沈阳发动机研究所沈阳110015

高速涡轮发动机及其组合动力装置是高超声速飞行器技术的基础和关键。随着飞行马赫数提高,来流空气总温显著升高,发动机推力急剧减小。在此背景下,进气预冷成为扩展航空涡轮发动机工作速域的主要方向。液氢同时具备高热值和高热沉,是燃... 详细信息

高速涡轮发动机及其组合动力装置是高超声速飞行器技术的基础和关键。随着飞行马赫数提高,来流空气总温显著升高,发动机推力急剧减小。在此背景下,进气预冷成为扩展航空涡轮发动机工作速域的主要方向。液氢同时具备高热值和高热沉,是燃料换热预冷的理想工质。因此,氢预冷涡轮发动机被视为实现临近空间高超声速飞行的重要技术之一。回顾了国外氢预冷吸气式发动机的发展历程,分析了各型发动机的主要特点,并根据预冷目的归纳总结了面向氢氧火箭以及面向冲压或涡喷发动机的2类氢预冷技术。在此基础上,考虑氢预冷涡轮发动机的工作需求,对其研发中的关键技术进行了梳理。与传统航空发动机相比,氢预冷涡轮发动机由于采用了新的循环、燃料和结构,给总体、传热、燃烧、材料等方面带来了诸多挑战。其中的关键技术包括:预冷系统与发动机总体性能的全工况稳态和动态匹配技术;高功重比预冷器的设计、成型和防冰技术;氢燃料动态高精度计量和燃烧控制技术;涉高压氢部件的氢损伤抑制及预测技术等。

关键词：高超声速涡轮发动机进气预冷燃料换热预冷氢燃料

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A short review of antibacterial Cu-bearing stainless steel:antibacterial mechanisms,corrosion resistance,and novel preparation techniques

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Journal of Iron and Steel Research International 2024年第1期31卷 24-45页

作者： shuai Liu Han-jie guo School of Artificial Intelligence Beijing Technology and Business UniversityBeijing100048China Beijing Key Laboratory of Special Melting and Preparation of High-End Metal Materials University of Science and Technology BeijingBeijing100083China

Cu-bearing stainless steel is widely used in the fields of food,medical and household sanitary equipment because of its surface finish and corrosion ***,the growth of bacteria on stainless steel leads to the formation of biofilms,which causes ***,the antibacterial property of stainless steel is a worthy research *** of breakthroughs in the field of corrosion resistance and antimicrobial properties are still ***,due to the scarcity of publications on the antibacterial mechanisms and processing methods of antibacterial Cu-bearing stainless steel,we review the current state of relevant research and *** toxicity of Cu,corrosion resistance mechanism of stainless steel,and antibacterial mechanism and preparation method of antibacterial stainless steel are *** addition,alloying,surface modification and other methods are found to have limitations in balancing the toxicity and antibacterial properties of copper and the relationship between the antibacterial properties and corrosion resistance of Cu-bearing stainless steel.A new preparation method of antibacterial stainless steel associated with selective laser melting(SLM)is *** is becoming a powerful additive manufacturing technology that can be used to manufacture customized and complex *** research status of SLM applied in antibacterial stainless steel preparation is ***,the future research direction of Cu-bearing antibacterial stainless steel is discussed.

关键词： Cu-bearing stainless steel Antibacterial Processing Additive manufacturing Corrosion resistance

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Diffusion and reaction mechanism of limestone and quartz in fluxed iron ore pellet roasting process

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International Journal of Minerals,Metallurgy and Materials 2024年第3期31卷 485-497页

作者： Yufeng guo Jinlai Zhang shuai Wang Jianjun fan Haokun Li Feng Chen Kuo Liu Lingzhi Yang School of Minerals Processing and Bioengineering Central South UniversityChangsha 410083China Technology Center Taiyuan Iron Steel(Group)Co.Ltd.(TISCO)Taiyuan 030003China

The increase to the proportion of fluxed pellets in the blast furnace burden is a useful way to reduce the carbon emissions in the ironmaking *** this study,the interaction between calcium carbonate and iron ore powder and the mineralization mechanism of fluxed iron ore pellet in the roasting process were investigated through diffusion couple *** electron microscopy with energy dispersive spectroscopy was used to study the elements’diffusion and phase transformation during the roasting *** results indicated that limestone decomposed into calcium oxide,and magnetite was oxidized to hematite at the early stage of *** the increase in roasting temperature,the diffusion rate of Fe and Ca was obviously accelerated,while the diffusion rate of Si was relatively *** order of magnitude of interdiffusion coefficient of Fe_(2)O_(3)-CaO diffusion couple was 10^(−10) m^(2)·s^(−1) at a roasting temperature of 1200℃for 9 ***_(2)Fe_(2)O_(5) was the initial product in the Fe_(2)O_(3)-CaO-SiO_(2) diffusion interface,and then Ca_(2)Fe_(2)O_(5) continued to react with Fe_(2)O_(3) to form CaFe_(2)O_(4).With the expansion of the diffusion region,the sillico-ferrite of calcium liquid phase was produced due to the melting of SiO_(2) into CaFe_(2)O_(4),which can strengthen the consolidation of fluxed ***,andradite would be formed around a small part of quartz particles,which is also conducive to the consolidation of fluxed *** addition,the principle diagram of limestone and quartz diffusion reaction in the process of fluxed pellet roasting was discussed.

关键词： fluxed iron ore pellet limestone hematite quartz diffusion reaction

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Quantum Curve and Bilinear Fermionic Form for the Orbifold Gromov–Witten Theory of P[r]

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Acta Mathematica Sinica,English Series 2024年第1期40卷 43-80页

作者： Chong Yao CHEN shuai guo Mathematics Department Duke UniversityBox 90320DurhamNC 27708-0320USA School of Mathematical Sciences Peking UniversityBeijing 100871P.R.China

We construct the quantum curve for the Baker-Akhiezer function of the orbifold Gromov-Witten theory of the weighted projective line P[r].Furthermore,we deduce the explicit bilinear Fermionic formula for the(stationary... 详细信息

关键词： Quantum curve Free Fermions Gromov-Witten invariants Orbifold P^(1)

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Electrochemical anodic oxidation assisted fabrication of memristors

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International Journal of Extreme Manufacturing 2024年第3期6卷 250-272页

作者： shuai-Bin Hua Tian Jin Xin guo School of Materials Science and Engineering State Key Laboratory of Material Processing and Die&Mould TechnologyHuazhong University of Science and TechnologyWuhan 430074People’s Republic of China

Owing to the advantages of simple structure,low power consumption and high-density integration,memristors or memristive devices are attracting increasing attention in the fields such as next generation non-volatile memories,neuromorphic computation and data ***,the deposition of memristive films often requires expensive equipment,strict vacuum conditions,high energy consumption,and extended processing *** contrast,electrochemical anodizing can produce metal oxide films quickly(e.g.10 s) under ambient *** means of the anodizing technique,oxide films,oxide nanotubes,nanowires and nanodots can be fabricated to prepare *** film thickness,nanostructures,defect concentrations,etc,can be varied to regulate device performances by adjusting oxidation parameters such as voltage,current and *** memristors fabricated by the anodic oxidation technique can achieve high device consistency,low variation,and ultrahigh yield *** article provides a comprehensive review of the research progress in the field of anodic oxidation assisted fabrication of ***,the principle of anodic oxidation is introduced;then,different types of memristors produced by anodic oxidation and their applications are presented;finally,features and challenges of anodic oxidation for memristor production are elaborated.

关键词： anodic oxidation anodized aluminium oxide memristor resistive switching electrical properties

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Innovations in metallurgical and materials processes:advancing liquid theory and honoring ***-jie guo's contributions to physical chemistry in metallurgy

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Journal of Iron and Steel Research International 2024年第1期31卷 1-2页

作者： shuai Liu Jing guo Han-jie guo School of Artificial Intelligence Beijing Technology and Business UniversityBeijing100048China School of Metallurgical and Ecological Engineering University of Science and Technology Beijing(USTB)Beijing100083China

Spanning three decades,***-jie guo's research group has dedicated itself to exploring the fundamental theories and practical applications of physical chemistry within the realm of *** under the assumption that molecul... 详细信息

关键词： chemistry liquid complexes

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A review on current development of thermophotovoltaic technology in heat recovery

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International Journal of Extreme Manufacturing 2024年第2期6卷 297-323页

作者： Shuni Chen Yanming guo Qinghui Pan Yong shuai Ministry of Industry and Information Technology Key Laboratory of Aerospace Thermophysics School of Energy Science and EngineeringHarbin Institute of TechnologyHarbin 150001People’s Republic of China

The burning of fossil fuels in industry results in significant carbon emissions,and the heat generated is often not fully *** high-temperature industries,thermophotovoltaics(TPVs)is an effective method for waste heat *** review covers two aspects of high-efficiency TPV systems and industrial waste heat *** the system level,representative results of TPV complete the systems,while selective emitters and photovoltaic cells in the last decade are *** key points of components to improve the energy conversion efficiency are further analyzed,and the related micro/nano-fabrication methods are *** the application level,the feasibility of TPV applications in high-temperature industries is shown from the world waste heat utilization *** potential of TPV in waste heat recovery and carbon neutrality is illustrated with the steel industry as an example.

关键词： thermophotovoltaic waste heat recovery micro/nano-fabrication carbon neutrality

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Vibration Control of the Rail Grinding Vehicle with Abrasive Belt Based on Structural Optimization and Lightweight Design

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Chinese Journal of Mechanical Engineering 2024年第3期37卷 311-337页

作者： Wengang fan shuai Zhang Zhiwei Wu Yi Liu Jiangnan Yu School of Mechanical Electronic and Control EngineeringBeijing Jiaotong UniversityBeijing 100044China Key Laboratory of Vehicle Advanced Manufacturing Measuring and Control TechnologyMinistry of EducationBeijing 100044China China Railway Materials Operation and Maintenance Technology Co. LtdBeijing 100036China

As a new grinding and maintenance technology,rail belt grinding shows significant advantages in many applications The dynamic characteristics of the rail belt grinding vehicle largely determines its grinding performance and service *** order to explore the vibration control method of the rail grinding vehicle with abrasive belt,the vibration response changes in structural optimization and lightweight design are respectively analyzed through transient response and random vibration simulations in this ***,the transient response simulation analysis of the rail grinding vehicle with abrasive belt is carried out under operating conditions and non-operating ***,the vibration control of the grinding vehicle is implemented by setting vibration isolation elements,optimizing the structure,and increasing ***,in order to further explore the dynamic characteristics of the rail grinding vehicle,the random vibration simulation analysis of the grinding vehicle is carried out under the condition of the horizontal irregularity of the American AAR6 ***,by replacing the Q235 steel frame material with 7075 aluminum alloy and LA43M magnesium alloy,both vibration control and lightweight design can be achieved *** results of transient dynamic response analysis show that the acceleration of most positions in the two working conditions exceeds the standard value in GB/T 17426-1998 *** optimizing the structure of the grinding vehicle in three ways,the average vibration acceleration of the whole car is reduced by about 55.1%from 15.6 m/s^(2) to 7.0 m/s^(2).The results of random vibration analysis show that the grinding vehicle with Q235 steel frame does not meet the safety conditions of 3σ.By changing frame material,the maximum vibration stress of the vehicle can be reduced from 240.7 MPa to 160.0 MPa and the weight of the grinding vehicle is reduced by about 21.7%from 1500 kg to 1175 *** modal analysis results indic

关键词： Vibration control Dynamic characteristics Structural optimization Lightweight design Modal analysis

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