Locomotion behavior and dynamics of geckos freely moving on the ceiling

To understand the mechanical interactions when geckos move on ceiling and to obtain an inspiration on the controlling strategy of gecko-like robot, we measured the ceiling reaction force (CRF) of freely moving geckos on ceiling substrate by a 3-dimensional force measuring array and simultaneously recorded the locomotion behaviors by a high speed camera. CRF and the preload force (F_P) generated by the geckos were obtained and the functions and the differences between forces generated by fore- and hind- feet were discussed. The results showed that the speed of gecko moving on the ceiling was 0.17–0.48 m/s, all of the fore- and hind-legs pulled toward the body center. When geckos attached on the ceiling incipiently, the feet generated a very small incipient F_P and this fine F_P could bring about enough adhesive normal force and tangential force to make the gecko moving on ceiling safely .The F_P of the fore-feet is larger than that of the hind-feet. The lateral CRF of the fore-feet is almost the same as that of the hind-feet’s. The fore-aft CRF generated by the fore-feet directed to the motion direction and drove their locomotion, but the force generated by the hind-feet directed against the motion direction. The normal CRF of fore- and hind-feet accounted for 73.4% and 60.6% of the body weight respectively. Measurements show that the fore-aft CRF is obviously lager than the lateral and normal CRF and plays a major role in promoting the fore-feet, while the hind-feet of the main role are to provide a smooth movement. The results indicate that due to the differences of the locomotion function of each foot between different surfaces, the gecko can freely move on ceiling surfaces, which inspires the structure designing, gait planning and control developing for gecko-like robot.     

Electrical conductivity changes of bulk tin and Sn-3.0Ag-0.5Cu in bulk and in joints during isothermal aging

The changes of electrical conductivity (resistance) between Sn-3.0Ag-0.5Cu solder joints and printed circuit board (PCB) assembly during aging at 125℃ were investigated by the four-point probe technique. The microstructural characterizations of interfacial layers between the solder matrix and the substrate were examined by optical microscopy and scanning electronic microscopy. Different types of specimens were designed to consider several factors. The experimental results indicate that electrical conductivities (resistances) and residual shear strengths of the solder joint specimens significantly decrease after 1000 h during isothermal aging. Microcracks generate in the solder matrix at the first 250 h. Besides, the evolutions of microstructural characterizations at the interface and the matrix of solder joints were noted in this research.     

粒状活性炭对水中双酚A吸附性能的研究

研究了粒状活性炭(GAC)对水环境中内分泌干扰物双酚A(BPA)的吸附动力学和热力学特性,分别讨论了温度、溶液pH以及背景离子的存在等因素对整个吸附过程的影响。研究结果表明:在吸附开始阶段,不同质量的活性炭吸附速率均较大,约3 h达到吸附平衡。吸附量随着温度的升高而减小;当pH≥10时,吸附量随着双酚A的电离而减小;背景离子的存在使得吸附量下降。活性炭对双酚A的吸附过程遵循二级动力学方程。用Langmuir方程可以比较好的对吸附等温线进行拟合;对吸附热力学研究表明:ΔH0,说明吸附为放热过程;ΔG0,说明双酚A倾向于从溶液中吸附到活性炭表面,反应过程是自发进行的;ΔS0,说明吸附过程对溶液体系属于熵减小的过程,活性炭对双酚A的吸附比解吸强烈。     

数字环境下的高校文库建设——以兰大文库为例

高校文库建设逐渐成为高等学校图书馆特色资源组成的一个重要部分。文库资源作为图书馆特藏资源的重要组成部分,为学校文献资源建设和校园文化建设发挥着积极作用。在数字环境下,如何构建文库,处理好文库实践中的问题,保持文库在数字环境下可持续性发展,是高校文库数字环境下发展的关键。结合兰大文库的实践,谈谈几点认识。     

巡司河水质污染现状调研及防治对策

20世纪70年代以来,随着武汉工农业的快速发展,巡司河污染问题日益严重.附近居民生活垃圾渗滤液以及生活污水的排放是污染物的主要来源.经过对巡司河为期两个月的实地调研,选取5个监测点的代表性指标进行了监测.监测结果表明,NH3-N、BOD、COD、TP等指标均严重超标;采用内梅罗污染指数法评价了水体质量,评价结果表明巡司河5个监测点的水质为重污染或严重污染.针对巡司河的污染状况,提出相应防治对策.     

红景天叶多糖的微波提取及含量测定

首次运用微波技术用水提醇沉淀法提取红景天叶多糖，用苯酚－硫酸比色法测定多糖含量，测得红景天叶中多糖含量为3．01％，平均回收率为98．68％，RSD＝1．26％（n=3），并且反应速度加快。     

一种新的基于距离度量的近似推理方法

对常用的近似推理方法如合成推理方法（CRI）和基于相似度量的近拟推量方法（AARS）进行了研究,指出了它们存在的缺陷;在此基础上,提出了基于距离度量的近似推理方法,该方法较好地解决了CRI和AARS方法的中的问题。     

一类单圈图的谱半径的序

按照谱半径对一类单圈图C_(n,2)进行了排序,得到ρ(C_(n,2)～1)≤ρ(C_(n,2)～2)≤…≤ρ(C(n,2)～k)≤ρ(C(n,2)～(k+1))≤…≤ρ(C(n,2)～[(n+1)/2]).     

热浸Zn-Ti合金镀层的显微组织与耐蚀性能

为了抑制热镀锌过程中因含硅活性钢引起的镀层超厚生长,本文采用在纯锌浴中加Ti的方法,研究了0.09%Si钢在含低于0.1%Ti的几种锌浴中热浸镀获得的组织,并采用盐雾腐蚀,电化学极化以及X射线光电子能谱等方法,研究了Zn和Zn-Ti镀层的耐蚀性能。结果表明,随着锌浴中Ti含量的增加,Ti对ζ相生长的抑制作用增强,合金层厚度逐渐减薄,Ti能有效地抑制含硅活性钢镀层的超厚生长。当Ti含量大于0.05%时,镀层中出现Γ2粒子。Zn-Ti合金镀层在5%NaCl溶液中发生自发腐蚀的倾向小于Zn镀层,其极化电阻增大,腐蚀电流密度减小,耐蚀性能提高。Zn-Ti镀层表面形成的氧化膜由ZnO 和TiO2组成。锌钛合金镀层的耐腐蚀性能优于纯锌镀层是由于在镀层表面形成了更加稳定的TiO2膜。     

基于专家系统的变电站监控信号智能处理系统

为了减轻变电站运行人员的工作负担,辅助故障快速判断,提高运行人员技术水平,在深入总结变电站异常和故障类型的基础上,构建了一个多层次的故障推理模型,结合网络拓扑技术,实现了一个基于专家系统的变电站监控信号智能处理系统.系统的监控信号分析处理功能全面,快速定位机制确保值班员能迅速确定故障信息所在间隔,能准确报告变电站主要故障,并结合专家知识库出具故障报告,提供故障处理指导.系统具备故障模拟及培训功能.该系统在变电站实际应用中取得了良好的效果.