基于机器视觉的玉米秸秆行实时定位机器人设计

为了实现机器人玉米秸秆行的精确定位,对耕作玉米机器人的结构进行了改进,并提出了一种基于泰勒级数展开式的RSSI定位方法,提高了机器人玉米秸秆行的定位精度。定位系统使用高清晰度的摄像机采集图像,并采用PID闭环反馈的方式控制机器人的位移,利用PC主控端图像处理,实现了实时定位功能。为了验证机器人玉米秸秆行定位的可靠性,采用田间试验的方法对机器人的性能进行了测试。结果表明:RSSI定位方法的定位精度较高,且图像处理系统可以准确地标定玉米秸秆行,实现机器人在玉米田中的精确定位,避免了机器人在作业过程中对农作物造成损害。     

Simulation on the Characteristics of Flow Pattern in Sprial uP-flow Reactor

In order to analyze the reason why the Spiral Up-flow Reactor system has excellent removal effect of COD, N and P, the authors use PHOENICS, a computational fluid dynamics program, to investigate the hydraulic characteristics and flow model of the anaerobic part of Spiral uP-flow reactor. The result shows that the fluid in the reactor unit flowed upward by the spiral way, and that flow pattern was combined by plug flow and complete-mix flow, and that the percentage of plug flow was about sixty-five percent. Spiral Up-flow Reactor units the Characteristics of PFR and CSTR, which makes it work well.     

励磁功率单元主回路快速故障诊断策略

分析总结了发电机组励磁系统功率单元的故障类型和常见故障,通过Matlab仿真功率单元主回路故障类型,重点研究基于故障频谱分析的定量故障特征提取和故障分类,提出了一种快速针对功率单元主回路的故障诊断真值表法,最后通过实验平台验证故障类别,结果表明：该方法能够正确有效地诊断出功率单元主回路具体的故障晶闸管,为励磁系统功率单元故障诊断提供依据。     

Synthetic Application for Analysis Methods of the Planar Mechanism Overconstraints

Overconstraints exist widely in planar closed chain mechanisms and mechanical systems result in a series of detrimental influences on behavior of machines, and attention is given to them by machine designer. Some analysis methods of overconstraints in planar closed chain mechanisms are presented, and more study due to the faultiness of these methods. In accordance with faultiness of two common kind of methods, formulas method and loop analysis method of degrees of freedom, and by combining these two methods, an useful mechanism overconstraints analysis method which is convenient for computer aided overconstraints analysis is gained via research on the two methods thoroughly and systematically, and some new views about mechanism overconstraints analysis are presented.     

The Algorithm of Searching out the Least and Most Loops by Making Use of Direction Factor

Based upon the conception of the least loop,the most loop and direction factor presented by the author firstly,the algorithm of searching out the least and most loops has been designed.By building the adjoining matrix, confirming the start-point of searching,vectorizing the searching sides,calculating the direction factor of adjoining sides,we can search out the next side of the least loop or the most loop rapidly.With a valid searching side being confirmed at every searching and the searching scope being reduced by forming degenerate graph,the time compexity of the algorithm is much less. In the research of the automatic calculating system of construction quantities, the problem of houses partition and out-wall partition had been solved succesfully by utilizing this searching algorithm.     

胞外多聚物在污泥颗粒化过程中的作用研究

本文研究了胞外多聚物(ECP)在污泥颗粒化过程中的作用。试验采用小试UASB反应器,以人工葡萄糖配水作为进料。测定结果表明,在颗粒污泥培养过程中,随着颗粒污泥的形成、生长和成熟,污泥ECP含量逐渐下降,从开始的6.36减小到30mg/gVSS。当反应器酸化、污泥性能变差或运行不稳定时,ECP含量则表现为急剧上升,达70mg/gVSS。这些结果说明污泥颗粒化过程中ECP所起的作用不大。对有关ECP的影响及作用机理,以及污泥颗粒化机制,文章进行了分析讨论。     

UASB反应器三相分离器的设计方法

气固液三相分离器是UASB反应器的重要构成部分。本文提出了一整套三相分离器的设计方法,提供了一些设计参数,并且介绍了三相分离器的设计实例。     

厌氧水解-移动床生物膜反应器处理香精调料废水的研究

我国的香精调料行业发展很快,废水的成分复杂,浓度高,必须采用多种技术联合处理。针对某食用香精调料企业的废水特点,采用化学混凝预处理、厌氧水解和好氧移动床(MBBR)组合工艺处理,生产性装置的运行效果表明,COD,BOD5,SS和NH3-N等去除效率突出,完全可以达到排放标准,TN和TP的去除效率可分别达到66.3%~69.7%和83.0%~90.2%,其中,TN是由厌氧段反硝化和MBBR同步硝化反硝化实现,TP则通过化学混凝而去除。厌氧水解和MBBR是去除有机物和生物硝化的核心,曝气生物活性炭滤池进一步保证了出水的水质。