露天煤矿下多机器人协同煤矿搬运方法研究

针对露天煤矿下多机器人协同煤矿搬运问题,建立了由控制中心、无线网关和无线传感器组成的无线传感器网络来控制多个机器人协同工作.为了实现高效的合作,以任务完成时间衡量机器人的合作效率,提出了基于效率最优的任务分配机制,采用蚁群算法,由控制中心进行集中式任务分配,并通过无线传感器网络告知机器人,实现了多机器人合作.利用无线传感器节点的定位信息,采用基于到达时间差的定位方法实现了机器人定位,使得机器人可在露天煤矿自主搬运煤矿.搭建了无线传感器网络,并用Pioneer III机器人和能力风暴机器人模拟煤矿搬运,模拟结果证明提出的方法可以实现露天煤矿下多机器人的协同控制,使机器人在最短的时间内完成任务.     

Open-air traveling-wave thermoacoustic generator

Taking the input and reflected waves into account,the relationship between the acoustic impedance at the end and the input of a system were theoretically analyzed.Closed and open acoustic configurations that influence the pressure,volumetric velocity,impedance and acoustic work were compared in detail.Based on the above investigation,an open-air traveling-wave thermoacoustic generator was designed and fabricated.It is composed of a looped tube,a resonator open at one end,a regenerator,and hot and cold heat exchangers.It is a small scale and simple configuration.The resonant frequency is 74 Hz at 1 bar in air.The maximum acoustic pressures at the open end and 0.5 m far away from the open end are 133.4 dB and 101 dB from a reference value of 20μPa when the heating power was 210 W,respectively.Acoustic pressure is reasonable for practical application as a low-frequency acoustic source.In further work,we believe that the acoustic pressure at the open end can achieve 150 dB,which could be a solution to problems in existing acoustic generators.These problems include low acoustic pressure and system complexity.It can be used as a basic acoustic source for low frequency and long-range noise experiments,and as a supply for high acoustic pressures necessary for industrial sources.     

太仓市露天草莓种植的气候区划

为了合理地安排露天草莓的种植布局、有效利用自然资源,从而提高草莓的产量和品质,获得更好的经济效益,以苏州太仓站及其周边6个气象站1971—2010年气温、降水和日照资料为数据源,根据草莓生长对气象条件的需求以及太仓的农业气候资源,确定草莓种植的气候区划指标,并利用普通克里金空间插值和几何分级法,对太仓市露天草莓种植进行了气候区划。结果表明:璜泾镇和浮桥镇北部地区不适宜种植草莓,沙溪镇中部、浮桥镇南部、浏河镇中部和西部地区是草莓种植的一般适宜区,而经济开发区、城厢镇、双凤镇、沙溪镇南部是草莓种植的最适宜区。太仓市的农业气候资源总体上适宜种植草莓,最终的区划结果可以为草莓的种植布局和品质的提升提供科学依据。     

师范院校生物实验教学体系的构建

实验教学是培养学生实践能力和综合素质的重要教学环节。文章在阐述生物学实验教学体系构建的基础上，对抓好基础性实验。搞活综合性和设计性实验作了探讨，并根据生物科学的特点，进一步论证了加强实验教学研究指导、开展应用性调查和室外研究的意义和做法。     

露天煤矿下多机器人协同煤矿搬运方法研究

针对露天煤矿下多机器人协同煤矿搬运问题,建立了由控制中心、无线网关和无线传感器组成的无线传感器网络来控制多个机器人协同工作。为了实现高效的合作,以任务完成时间衡量机器人的合作效率,提出了基于效率最优的任务分配机制,采用蚁群算法,由控制中心进行集中式任务分配,并通过无线传感器网络告知机器人,实现了多机器人合作。利用无线传感器节点的定位信息,采用基于到达时间差的定位方法实现了机器人定位,使得机器人可在露天煤矿自主搬运煤矿。搭建了无线传感器网络,并用Pioneer III机器人和能力风暴机器人模拟煤矿搬运,模拟结果证明提出的方法可以实现露天煤矿下多机器人的协同控制,使机器人在最短的时间内完成任务。     

Newly discovered Palaeolithic artefacts from loess deposits and their ages in Lantian,central China

Eight new Palaeolithic open-air sites were identified and 770 stone artefacts were collected from 2009 to 2011 in the Lantian area of the Bahe River valley, central China. Because the famous Homo erectus fossils were unearthed at the Gongwangling and Chenjiawo localities, and more than 30 Palaeolithic open-air sites were investigated in the 1960s in this region, the catchment of Bahe River is regarded as one of the most important hominin sites from the late early Pleistocene to the middle Pleistocene. These eight newly discovered open-air sites are located at the second(n = 6), third(n = 1) or higher terraces(n = 1) of the Bahe River. The Diaozhai section on the second terrace was sampled in detail. Two samples were collected for optically stimulated luminescence dating(OSL). The OSL results suggest that a buried lithic artefact layer at the Diaozhai site spans approximately 70–30 ka. The lithic assemblage analysis suggests that the stone artefacts were made of local pebbles/cobbles such as greywacke, quartz, sandstone and igneous rocks. The main percussion techniques that were used were direct hard hammer percussion and bi-polar techniques. The lithic artefacts comprise hammer stones, cores, flakes, retouched tools and flaking debris. Acheulian-type large cutting tools(LCTs) such as hand-axes, picks and cleavers were indentified in the Lantian region as well. This is the first time Acheulian-type LCTs from the late Pleistocene have been identified in this region. This study distinguishes age gaps between Western world and East Asian Acheulian-type tools.     

露天试车台在拉力载荷作用下的静态变形分析

随着航空发动机研制要求的不断提高,各种功能的露天试车台已经成为航空发动机整机试验体系中不可或缺的组成部分。本文在对露天台结构模型进行有效的简化基础上,利用ANSYS Workbench软件对其在不同拉力载荷作用下产生的静态变形量进行计算与分析,通过与实际测量数据进行对比验证,实现了单立柱悬臂式航空发动机露天试车台架测试性能分析与评估,同时研究了露天环境对其测量结果的影响规律,得到了250kN载荷下模型静态变形校准量。结果表明,ANSYS Workbench计算静态变形整体平均误差为10.1%,发动机处考核点平均误差为5.16%,动架前端考核点平均误差为15.29%,动架后端考核点平均误差为9.85%,对比结果具有很好的吻合度,为露天试车台试验测试数据分析与校准提供了有力保障。