行走机器人

本文简单地回顾了行走机器人的研究概况,较详细地描述了HILARE机器人,集中讨论了研制中的一些关键问题:环境感知、决策制定、执行控制以及HILARE计划中所试验的空间建模和路径寻找技术。最后讨论了行走机器人的发展方向及其在现实中的应用。     

A massive phytoplankton bloom induced by an ecosystem-scale iron fertilization experiment in the equatorial Pacific Ocean

The seeding of an expanse of surface waters in the equatorial Pacific Ocean with low concentrations of dissolved iron triggered a massive phytoplankton bloom which consumed large quantities of carbon dioxide and nitrate that these microscopic plants cannot fully utilize under natural conditions. These and other observations provide unequivocal support for the hypothesis that phytoplankton growth in this oceanic region is limited by iron bioavailability.     

Pulsating aurora induced by upper atmospheric barium releases

An effect which appeared to be pulsating aurora was observed to be associated with explosive releases of barium vapour near 250 km altitude, but only when the explosions were in the path of precipitating electrons associated with the visible aurora.     

Seed germination in response to diurnal fluctuations of temperature

Diurnal fluctuations in temperature may initiate or accelerate germination in certain flowering plants, and the effectiveness of the stimulus varies according to the amplitude of fluctuation and the presence or absence of light. Attempts to assess the adaptive significance of the phenomenon, however, have been limited by the scarcity of data for species of contrasted ecology. We report here an investigation of germination responses to fluctuating temperatures, conducted on seeds of herbaceous species collected from native populations near Sheffield. The results suggest that requirements for diurnal fluctuations in temperature are characteristic of the germination of species from particular types of habitat and provide mechanisms which cause seeds to germinate at times and in places favourable for seedling establishment.     

环路热管启动特性的实验研究

通过大量的实验研究了蒸发器内气液分布、反重力工作高度、启动热载荷的大小、热沉温度等因素对启动的影响, 描述并分析了4种不同蒸发器内气液分布情况下的启动现象, 给出了系统温度变化曲线图, 分析了启动的难易程度. 根据实验数据得出结论: (ⅰ) 对于液体干道内充满液体的启动情况, 储液器温度上升的主要原因并不是漏热, 而是回路压力升高所致. (ⅱ) 热载荷大有利于启动. (ⅲ) 未完全绝热时小热载荷下热沉温度不影响启动. (ⅳ) 环路热管在反重力情况下启动时, 当蒸汽槽道存在蒸汽时, 所需启动时间、启动温升增大; 而蒸汽槽道充满液体时, 所需时间、过热度和启动温升都减少. 实验还观察到了反重力启动时呈现两种启动方式的特别现象.     

曝气生物流化床处理炼油厂含硫和高氨氮污水的研究

炼油厂含硫污水因含高浓度的油、COD、硫化物及挥发酚而难于生化降解，催化剂生产中排放的污水因含高浓度的氨氮、盐类、悬浮物质以及低浓度的有机物而成为水处理的难题．本文采用一种曝气生物流化床（ABFT）工艺，对含硫污水和催化剂高氨氮污水的混合污水进行了现场连续试验，结果表明：在混合污水COD为2090mg／L、氨氮为600mg／L、挥发酚为27mg／L和硫化物为154mg／L的情况下，ABFT系统出水COD为95mg／L、氨氮为4．0mg／L、挥发酚为0．30mg／L和硫化物为0．0067mg／L，出水达到了国家污水排放标准一级标准．在处理工艺中，动态氧化和混凝沉淀作为预处理，ABFT反应器采用了合成高分子载体固定化微生物技术，该载体具有大孔网状以及优良的机械强度和化学性能，高效微生物B350通过化学键固定在载体上．克氏定氮法表明，ABFT中生物负载量为32mg／L．试验结果显示：在处理高氨氮污水方面，ABFT工艺比SBR工艺具有更强的优势，同时，ABFT系统具有较高的处理效率和耐冲击负荷能力．