低成本教育型机器人控制器的设计与实现

论述了一种低成本机器人控制器的设计与实现 .采用AT89C2 0 5 1作为主芯片 ,提供两路独立的电机驱动和最多 7个外围扩展口 .软件采用汇编语言编写 ,能下载并运行上位机程序 ,配合外围红外传感器 ,实现了追踪和安全漫游 .     

Secure Transmission Scheme for Parallel Relay Channels Based on Polar Coding

This paper considers the use of polar codes to enable secure transmission over parallel relay channels.By exploiting the properties of polar codes over parallel channels, a polar encoding algorithm is designed based on Channel State Information(CSI) between the legitimate transmitter(Alice) and the legitimate receiver(Bob).Different from existing secure transmission schemes, the proposed scheme does not require CSI between Alice and the eavesdropper(Eve). The proposed scheme is proven to be reliable and shown to be capable of transmitting information securely under Amplify-and-Forward(AF) relay protocol, thereby providing security against passive and active attackers.     

Loading-Balance Relay-Selective Strategy Based on Stochastic Dynamic Program

A Relay-Assisted(RA) network with relay selection is considered as a type of effective technology to improve the spectrum and energy efficiency of a cellular network. However, loading balance of the assisted relay node becomes an inevitable bottleneck in RA network development because users do not follow uniform distribution. Furthermore, the time-varying channel condition of wireless communication is also a major challenge for the RA network with relay selection. To solve these problems and improve the practicability of the RA network, a Loading Balance-Relay Selective(LBRS) strategy is proposed for the RA network in this paper. The proposed LBRS strategy formulates the relay selection of the RA network under imperfect channel state information assumption as a Multistage Decision(MD) problem. An optimal algorithm is also investigated to solve the proposed MD problem based on stochastic dynamic program. Numerical results show that the performance of the LBRS strategy is better than that of traditional greedy algorithm and the former is effective as an exhaustive search-based method.     

1996-2016年五味子在国产保健食品中的应用与分析

目的 分析五味子21 a间在国产保健食品中作为原料的应用情况,为进一步研发五味子保健食品提供参考.方法 利用回顾性调查方法,抽取国家食品药品监督管理总局(CFDA)网站中1996—2016年已注册的保健食品信息,建立五味子保健食品专题数据库,分析五味子相关保健食品的功能分布、与之配伍的中药种类、频次、功效成分(或标志性成分)、地区分布及年代分布等.结果 1996—2016年期间含五味子的国产保健食品共有351个,涉及功能20种,配方原料数量最多6种,与五味子配伍使用的原料前5位为枸杞子、酸枣仁、人参、葛根、黄芪,功效成分涉及118种,申请地中前5位依次为北京市、广东省、陕西省、吉林省及黑龙江省.结论 含五味子保健食品的开发总量不足,档次较低,接近食品形态的剂型较少,没有形成基于五味子医药文化及民俗文化的品牌优势.     

张力带与髌骨爪置入治疗单纯横行和粉碎性髌骨骨折疗效分析

目的比较张力带和髌骨爪置入治疗单纯横行骨折和粉碎性骨折患者疗效,为临床两种手术方法的选择提供依据.方法对接受治疗的38例髌骨骨折患者进行回顾性分析,其中20例患者采用张力带疗法,18例患者采用髌骨爪疗法,比较不同疗法患者手术时间、术中出血量、并发症发生率、骨折愈合时间、膝关节功能恢复情况.结果张力带固定组患者术中出血量(305.2±36.5)m L,显著高于髌骨爪固定组患者(283.4±24.8)m L(P0.05),张力带固定组粉碎性骨折患者平均手术时间(54.1±9.1)min,显著长于髌骨爪固定组粉碎性骨折患者(52.9±2.8)min(P0.05).两组患者骨折愈合时间无显著性差异(11.9±1.9,12.4±1.8)周,膝关节功能评价平均分髌骨爪固定组患者(78.7±9.3)分,显著优于张力带固定组患者(84.7±9.2)分(P0.05).结论对于一般髌骨横行骨折患者,可采用张力带固定方式,而对于年龄较大、身体素质较差、粉碎性骨折患者,推荐采用髌骨爪固定方式,以减少术后并发症发生,促进膝关节功能恢复.     

黑果腺肋花楸组培繁殖培养基筛选

以黑果腺肋花楸茎尖和嫩叶为外植体,在MS培养基中加入不同种类与用量的生长调节剂,筛选黑果腺肋花楸组织培养繁殖培养基.结果表明:黑果腺肋花楸愈伤组织诱导效果较好的培养基为MS+6-BA 3.0 mg/L+NAA 0.5 mg/L;不定芽诱导效果较好的培养基为MS+6-BA 1.0 mg/L+NAA 0.1 mg/L;不定根诱导效果较好的培养基为1/2 MS+IBA 0.05 mg/L;以泥炭土、松针、砂砾(2∶1∶1)为基质时,组培苗移栽成活率较高(成活率96%).     

Shear-thickening behavior of Fe-ZSM5 zeolite slurry and its removal with alumina/boehmites

A cryogenic scanning electron microscopy (cryo-SEM) technique was used to explore the shear-thickening behavior of Fe-ZSM5 zeolite pastes and to discover its underlying mechanism. Bare Fe-ZSM5 zeolite samples were found to contain agglomerations, which may break the flow of the pastes and cause shear-thickening behaviors. However, the shear-thickening behaviors can be eliminated by the addition of halloysite and various boehmites because of improved particle packing. Furthermore, compared with pure Fe-ZSM5 zeolite samples and its composite samples with halloysite, the samples with boehmite (Pural SB or Disperal) additions exhibited network structures in their cryo-SEM images; these structures could facilitate the storage and release of flow water, smooth paste flow, and avoid shear-thickening. By contrast, another boehmite (Versal 250) formed agglomerations rather than network structures after being added to the Fe-ZSM5 zeolite paste and resulted in shear-thickening behavior. Consequently, the results suggest that these network structures play key roles in eliminating the shear-thickening behavior.     

Mineral-phase evolution and sintering behavior of MO-SiO2-Al2O3-B2O3 (M=Ca,Ba) glass-ceramics by low-temperature liquid-phase sintering

In this work, network former SiO₂ and network intermediate Al₂O₃ were introduced into typical low-melting binary compositions CaO·B₂O₃, CaO·2B₂O₃, and BaO·B₂O₃ via an aqueous solid-state suspension milling route. Accordingly, multiple-phase aluminosilicate glass-ceramics were directly obtained via liquid-phase sintering at temperatures below 950℃. On the basis of liquid-phase sintering theory, mineral-phase evolutions and glass-phase formations were systematically investigated in a wide MO-SiO₂-Al₂O₃-B₂O₃ (M=Ca, Ba) composition range. The results indicate that major mineral phases of the aluminosilicate glass-ceramics are Al₂₀B₄O₃₆, CaAl₂Si₂O₈, and BaAl₂Si₂O₈ and that the glass-ceramic materials are characterized by dense microstructures and excellent dielectric properties.     

Nanoindentation response analysis of TiN-Cu coating deposited by magnetron sputtering

To investigate the change of the mechanical properties of soft metals doped PVD(Physical Vapor Deposition)coatings after the migration of soft metal to the surface, TiN-Cu coating was deposited on Si(100) by magnetron sputtering. The microstructure and mechanical properties at room temperature and after vacuum heat treatment at 300 ℃ were investigated. The results showed that the grains were clustered and the microstructure was porous for TiN-Cu coating at room temperature, while many micro-and nano-sized Cu particles were observed on the surface after vacuum heat treatment at 300 ℃. The elastic properties of the TiN-Cu coating after vacuum heat treatment at 300℃ degraded compared with that at room temperature. The hardness and elasticity modulus of TiN-Cu coating kept constant(3.7 GPa and 125.0 GPa, respectively) with the increase of nano-indentation depth, while the hardness and elasticity modulus of TiN-Cu coating after vacuum heat treatment at 300 ℃ increased gradually.     

Transition-metal-doped Fe2O3 nanoparticles for oxygen evolution reaction

Hematite(α-Fe_2O_3)has been extensively studied as a promising photocatalyst,with the capacity to split water under visible light.To tune its electronic structure and improve the performance for oxygen evolution reaction(OER),high-quality single crystals ofα-Fe_2O_3nanoparticles were synthesized and doped by various transition metals(M=V,Cr,Mn,Zn,Co,Ni,Cu,Nb,Mo,Ti)by a molten-salt flux method.Optical,electronic and catalytic properties of transition-metal-dopedα-Fe_2O_3(TM-dopedα-Fe_2O_3)have been systematically investigated.Cobalt has been identified as the best dopant forα-Fe_2O_3,reducing the OER overpotential by 0.16 V with respect to the undoped.