A novel fully-integrated miniature six-axis force/torque sensor

This paper presents a new designed miniature six DOF （degree of freedom） force/torque sensor. This sensor is fully integrated with a micro DSP （digital signal processor）, so all the signal conditioning, A/D, decoupling, digital-signals serial output are performed in the sensor. Some experimental results are presented to demonstrate the capability of the proposed design. Finally, a neural network was used for decoupling the interacting signals, compared with the conventional method using the inverse matrix, this new method is more accurate.     

The Dynamics of Two-State Public Opinion Propagation On Signed Networks

The formation of public opinion on the network is a hot issue in the field of complex network research, and some classical dynamic models are used to solve this problem. The signed network is a particular form of the complex network, which can adequately describe the amicable and hostile relationships in complex real-world systems. However, the methods for studying the dynamic process of public opinion propagation on signed networks still require to be further discussed. In this paper, the authors pay attention to the influence of negative edges in order to design a two-state public opinion propagation mechanism suitable for signed networks. The authors first set the interaction rules between nodes and the transition rules of node states and then apply the model to synthetic and real-world signed networks. The simulation results show that there is a critical value of the negative edge ratio.When the negative edge ratio exceeds this critical value, the evolutionary result of public opinion will change from a consistent state to a split state. This conclusion is also consistent with the distribution result of opinions within communities in the signed network. Besides, the research on the network structural balance shows that the model makes the network evolve in a more balanced direction.     

Engineering of multiferroic BiFeO3 grain boundaries with head-to-head polarization configurations

Confined low dimensional charges with high density such as two-dimensional electron gas (2DEG) at interfaces and charged domain walls in ferroelectrics show gre...     

A Class of Second-Order Consensus Protocol in Multi-Agent Systems with Multiple Input Delays

This paper is concerned with the consensus problems for second-order multi-agent systems with multiple input delays. Different from all standard consensus algorithms with uniform delays, the authors aim to find the largest input-delay margin which can guarantee the consensus for the case when delays are nonuniform. Based on frequency domain analysis and matrix theory, an upper bound for maximum tolerable input-delay is given in terms of the relationship with scaling strengths and largest eigenvalue of the Lapalician matrix. Simulation results are provided to illustrate the obtained results.     

不同方法制备的PtRu/C催化剂对乙醇的电催化氧化

选用不同方法制备PtRu/C催化剂,运用循环伏安法、线性扫描法和计时电流法来检测乙醇及CO在不同方法制备的PtRu/C催化剂上的电催化氧化情况.发现无论在酸性溶液还是在中性溶液中,方法3制备的PtRu/C催化剂对乙醇和吸附态的CO的电氧化都有良好的催化活性.     

黑龙江省伊春市五营国家森林公园负离子研究

根据伊春市五营国家森林公园中的空气负氧离子浓度的实测资料,利用空气离子单极系数及空气离子评价系数进行了评价和研究.结果表明,该森林公园中空气负离子含量达到国际旅游度假区一级标准,空气清洁度属于A级“最清洁”;在动态水周围的一定范围内随着与动态水的距离的逐渐增大,空气离子单极系数大致呈线性增加趋势;空气离子评价系数值大致呈线性减小趋势.而在这个范围之外,两个值都将趋于平缓;在分别以红松、冷杉和白桦三种树种为主体的纯林中,空气清洁度均在早晚时比较高,在中午时出现低谷.     

体系作战效能评估与优化方法综述

分析了体系作战效能评估与优化的特点,基于“整体论”提出了将体系作战效能评估与优化划分为综合评估、分析、优化3个阶段的思路,针对3个阶段需要解决的实际问题,归纳总结了适用于解决各阶段问题的典型方法,并对比分析了不同方法的优缺点。针对“整体论”思想指导下体系作战效能评估与优化在实施中面临的实际困难,从综合应用框架设计、评估指标体系构建、试验推演模式创新等方面提出了下一步的研究方向,为体系作战效能评估与优化方法的有效落地提供了支撑。     

救援效率视角下灾后动态应急配送网络优化

针对应急救援问题,在受灾点的位置、需求以及受灾人口等信息动态变化的情况下,建立动态有向救援网络,以救援效率最大化为目标构建数学模型。运用数据包络分析模型,对各段救援路线的效率进行评价;建立基于效率的动态路由模型,通过时间片的划分将动态路由转化为多阶段的静态路由;设计了改进的混合贪心蚁群优化算法对模型进行求解,并将该算法与遗传算法、粒子群算法以及基础的蚁群算法进行对比。实验结果表明：改进的混合贪心蚁群优化算法能够有效处理动态路由问题,寻求到更高的救援效率。     

基于启发式的多机器人SLAM地图融合方法研究

同步定位和地图构建（simultaneous localization and mapping,SLAM）是移动机器人在未知环境中完成地图构建和定位任务的关键技术。针对多机器人SLAM中的地图融合问题,提出一种启发式的搜索方法引导局部地图的重复区域进行地图融合。每个机器人可以在不了解其相对位置的情况下建立局部地图,并将局部地图信息发送至同一工作站中,以局部地图的相似性为判断指标融合得到最优的全局地图。在机器人实物平台上进行验证,结果证明了多机器人SLAM的地图融合算法的有效性和准确性。     

水合4-氧-1(4H)-吡啶乙酸镁配合物[Mg(H2O)6](p-OPA)2·2H2O的合成与表征

合成了一个新的配合物[Mg(H2O)6](p-OPA)2.2H2O(p-OPA-=4-氧-1(4H)-吡啶乙酸根),并对其进行了元素分析和单晶X射线的表征。配合物晶体属单斜晶系,空间群为P 21/c,晶胞参数为a=1.2561(3)nm,b=1.2947(3)nm,c=0.67885(14)nm,β=99.32(3)°,V=1.0895(4)nm3,Z=2,Mr=472.69,Dc=1.441g/cm3,μ=0.154mm-1,F(000)=500,最终R=0.0525,wR=0.1398。Mg(Ⅱ)原子与六个水分子配位形成八面体构型,4-氧-1(4H)-吡啶乙酸根作为抗衡离子,配阳离子与阴离子之间通过静电吸引和氢键作用形成了三维氢键超分子网络结构。