摘要：【中文】本发明公开了一种面向移动机器人的不停车控制方法及系统，属于移动机器人控制技术领域，移动机器人包括移动平台和多自由度机械臂，包括基于多自由度机械臂末端执行器的速度控制率，控制多自由度机械臂末端速度按照控制率下的速度进行运动；基于移动平台的速度控制率，控制移动平台与目标的相对位姿；将移动平台的速度作为控制量，采用前馈控制补偿方式，消除移动平台运动导致的所述多自由度机械臂末端的运动分量。本发明结合前馈控制与反馈控制的优点，降低移动平台运动对于机械臂末端运动的影响，可实现移动机器人的不停车作业。 【EN】The invention discloses a non-stop control method and a system for a mobile robot, belonging to the technical field of mobile robot control.A mobile robot comprises a mobile platform and a multi-degree-of-freedom mechanical arm, wherein the mobile robot controls the tail end speed of the multi-degree-of-freedom mechanical arm to move according to the speed under the control rate based on the speed control rate of an end effector of the multi-degree-of-freedom mechanical arm; controlling the relative pose of the mobile platform and the target based on the speed control rate of the mobile platform; and taking the speed of the mobile platform as a control quantity, and eliminating the motion component of the tail end of the multi-degree-of-freedom mechanical arm caused by the motion of the mobile platform by adopting a feedforward control compensation mode. The invention combines the advantages of feedforward control and feedback control, reduces the influence of the motion of the mobile platform on the motion of the tail end of the mechanical arm, and can realize the non-stop operation of the mobile robot.

摘要：本发明公开了一种贴壁单细胞分双层培养装置，包括载片、插片、拨片、驱条、载架和固柱，所述驱条位于装置最上方，下方为拨片，所述插片包括插片侧翼、顶盖和铰链区，底部有防止双翼粘连的抵柱，插片侧翼经铰链区与顶盖相连，所述载片为中空玻片，包括载槽、边缘孔、载槽支架、载片内外框和上下撑棱，所述固柱为固定载片的长方柱，所述载架为包括边缘柱和固柱卡槽的立体架。本发明贴壁单细胞分双层培养的复杂装置，运用地球重力和贴壁细胞贴壁生长特性，将贴壁单细胞首次分裂所得的双细胞经直立孵育和倒立培养黏附在呈镜像的插片侧翼上。该装置结构精细，设计巧妙，操作简便，分双层培养效率高，便于实验室研究和无菌操作。

摘要：极寒地区油浸式变压器的绝缘电阻获取方法，涉及变压器绝缘电阻获取领域。现有折算到20℃的绝缘电阻值的方式，准确性差。将油温相同的试验油浸式变压器放置在个不同温度下进行绝缘电阻测试，测量每个温度下的绝缘电阻值；测量试验油浸式变压器在20℃下的实测绝缘电阻值；对绝缘电阻基础公式进行最小二乘法变换，获得变换后公式，结合个不同温度值、个绝缘电阻值和实测绝缘电阻值，获得变换后公式中的换算系数；在极寒地区下，测量待测油浸式变压器的环境温度、绝缘电阻值，极寒地区绝缘电阻公式根据待测油浸式变压器的环境温度、绝缘电阻值和换算系数，获得折算到20℃的绝缘电阻值。用于获得在极寒地区下，油浸式变压器折算到20℃的绝缘电阻值。

摘要：【中文】本发明涉及一种基于防火阻燃纤维的丝网印刷SERS传感阵列基底及其制备方法与应用，制备方法包括通过丝网印刷技术，在防火阻燃纤维衬底表面印刷SERS活性的还原二硫化钼‑纳米银复合材料，形成检测区域，并得到基于防火阻燃纤维的丝网印刷SERS传感阵列基底；该丝网印刷SERS传感阵列基底可用于消防现场污染物的快速检测。与现有技术相比，本发明中的基于防火阻燃纤维的丝网印刷SERS传感阵列基底具有制备方法简单、灵敏度高、成本较低、便于批量生产、方便携带等优点，在环境现场快速检测方面，尤其是消防现场实现污染物的原位快速高灵敏检测方面，极具应用潜力。 【EN】The invention relates to a silk-screen printing SERS sensing array substrate based on fireproof flame-retardant fibers and a preparation method and application thereof, wherein the preparation method comprises the steps of printing an SERS active reduction molybdenum disulfide-nano silver composite material on the surface of the fireproof flame-retardant fiber substrate by a silk-screen printing technology to form a detection area and obtain the silk-screen printing SERS sensing array substrate based on the fireproof flame-retardant fibers; the silk-screen printing SERS sensing array substrate can be used for rapid detection of fire-fighting field pollutants. Compared with the prior art, the silk-screen printing SERS sensing array substrate based on the fireproof flame-retardant fibers has the advantages of simple preparation method, high sensitivity, lower cost, convenience in batch production, convenience in carrying and the like, and has great application potential in the aspect of rapid detection of environmental sites, particularly in the aspect of realizing in-situ rapid high-sensitivity detection of pollutants in fire-fighting sites.

摘要：【中文】本发明涉及一种石墨烯基碳包覆ZIF‑67衍生氧化钴复合材料及其制备方法和应用，该制备方法该方法以二维结构的氧化石墨烯作为基底材料，通过高温碳化得到ZIF‑67衍生氧化钴，然后将得到的ZIF‑67衍生氧化钴、氧化石墨烯和碳源水热混合后冻干得到复合材料，即为目标产物。与现有技术相比，本发明得到的碳包覆Co₃O₄均匀地分散在石墨烯的片层上，具有工艺简单，条件温和，成本低廉等优点；本发明所制备的石墨烯基碳包覆ZIF‑67衍生氧化钴复合材料作为锂离子电池负极显示了优异的电化学性能。 【EN】The invention relates to a graphene-based carbon-coated ZIF-67 derived cobalt oxide composite material and a preparation method and application thereof. Compared with the prior art, the carbon-coated Co obtained by the invention₃O₄The graphene is uniformly dispersed on a graphene sheet layer, and has the advantages of simple process, mild conditions, low cost and the like; the graphene-based carbon-coated ZIF-67 derived cobalt oxide composite material prepared by the inventionThe lithium ion battery cathode shows excellent electrochemical performance.

摘要：【中文】本发明提供了一种H_1.07Ti_1.73O₄/rGO复合物钠离子电池负极材料的制备方法，首先通过一种简易的高温固相反应方法制备了微米尺寸的K_0.81Li_0.27Ti_1.73O₄颗粒，K_0.81Li_0.27Ti_1.73O₄表面包覆一层带正电荷的高分子材料，与带负电的氧化石墨烯GO溶液混合之后，通过正负电荷吸引，同时K_0.81Li_0.27Ti_1.73O₄在酸性环境下与酸反应，制备成H_1.07Ti_1.73O₄@GO的复合结构，然后通过水热，制备H_1.07Ti_1.73O₄@rGO复合材料。H_1.07Ti_1.73O₄@rGO纳米复合材料用于钠离子电池负极，表现出优异的倍率性能和循环稳定性。 【EN】The invention provides a method for preparing a hydrogen storage battery_1.07Ti_1.73O₄Firstly, preparing micron-sized K by a simple high-temperature solid-phase reaction method_0.81Li_0.27Ti_1.73O₄Granules, K_0.81Li_0.27Ti_1.73O₄The surface of the graphene oxide GO is coated with a layer of polymer material with positive charges, and after the polymer material is mixed with graphene oxide GO solution with negative charges, the polymer material is attracted by the positive charges and the negative charges, and K is simultaneously added_0.81Li_0.27Ti_1.73O₄Reacting with acid in acidic environment to prepare H_1.07Ti_1.73O₄Composite structure of @ GO, then by hydrothermal, H is prepared_1.07Ti_1.73O₄@ rGO composite. H_1.07Ti_1.73O₄The @ rGO nano composite material is used for a sodium ion battery cathode and shows excellent rate performance and cycling stability.

摘要：高透光性日光温室，涉及蔬菜种植技术领域，包括棚体，棚体的两端分别设有半透明防护板，半透明防护板与棚体外端部之间的区域形成遮挡区域；棚体内部对应每个种植垄设置有沿横向延伸的钢丝，棚体靠近横向端部的内顶面由上到下设有高位定位结构与低位定位结构，钢丝的一端可拆卸式连接于高位定位结构或低位定位结构上。本发明解决了传统技术中的拱棚，南北风直接吹向于拱棚的两端，使得拱棚两端的温度较低，导致拱棚内部温度差距较大；以及由于拱棚横向两端的高度较低，导致钢丝结构影响旋耕机对拱棚横向两端的土壤进行旋耕，降低了拱棚土壤处理效率的问题。

摘要：一种带电500kV绝缘子动态覆冰模拟装置，涉及一种绝缘子动态覆冰模拟装置。为了解决现有的采用人工气候室的实验舱进行测试绝缘子的覆冰性能时覆冰效率低和覆冰不均匀的问题。本发明带电500kV绝缘子动态覆冰模拟装置包括实验舱、温度控制系统、吊装件和覆冰喷头；本发明实验舱设计了四侧送风顶部回风的气流组织形式，温度控制系统设置在实验舱的四个角落，气流经过导流板引导后从送风口送出，气流经过实验区由顶部回风板上设置的回风口返回至回风层，避免出现送风死角，减少了常规绝缘子覆冰附属配套装置，提升了实验舱绝缘子覆冰的覆冰效率，吊装件下设置的旋转装置确保绝缘子串360°旋转，提高绝缘子串覆冰均匀性。

摘要：【中文】本发明涉及一种磷掺杂石墨烯包覆氧化铁复合材料及其制备方法和应用，该方法将在石墨烯片上原位生长的普鲁士蓝MOF转化为石墨烯包覆的氧化铁气凝胶，再将磷原子通过煅烧的方式掺杂到石墨烯晶格中，得到所述的磷掺杂石墨烯包覆氧化铁复合材料。与现有技术相比，本发明通过磷的掺杂提高了循环寿命以及稳定性，磷原子与石墨烯碳原子结合使锂离子更好的嵌入，以及有着丰富的应力缓冲纳米空间，在电化学过程中有效的电荷传输和稳健的结构稳定性；本发明具有工艺简单，条件温和，成本低廉等优点；本发明所制备的磷掺杂石墨烯包覆氧化铁复合材料作为锂离子电池负极显示了优异的电化学性能。 【EN】The invention relates to a phosphorus-doped graphene-coated iron oxide composite material and a preparation method and application thereof. Compared with the prior art, the invention improves the cycle life and stability by doping phosphorus, the phosphorus atoms are combined with the graphene carbon atoms to enable lithium ions to be better embedded, and the graphene carbon atoms have rich stress buffering nanometer spaces, effective charge transmission and stable structural stability in the electrochemical process; the invention has the advantages of simple process, mild condition, low cost and the like; the phosphorus-doped graphene-coated iron oxide composite material prepared by the invention has excellent electrochemical performance when being used as a lithium ion battery cathode.

摘要：【中文】本发明涉及一种二维碳化物晶体基聚酰亚胺钠电复合材料及其制备方法和应用，该制备方法将3,4,9,10‑苝四酸二酐加入到MXene的NMP溶液中，搅拌后加入乙二胺，搅拌后进行溶剂热反应，制得复合材料前驱体，还原后得到二维碳化物晶体基聚酰亚胺钠电复合材料。与现有技术相比，本发明将PI均匀地负载在MXene基底上，具有工艺简单，条件温和，成本低廉等优点；制得的钠电复合材料作为钠离子电池正极显示了优异的电化学性能，为MXene与有机正极材料在电化学领域的研究和应用提供了很好的实验数据和理论支持。 【EN】The invention relates to a two-dimensional carbide crystal-based polyimide sodium electrical composite material and a preparation method and application thereof. Compared with the prior art, the method loads the PI on the MXene substrate uniformly, and has the advantages of simple process, mild conditions, low cost and the like; the prepared sodium-electricity composite material has excellent electrochemical performance as a sodium-ion battery anode, and provides good experimental data and theoretical support for the research and application of MXene and organic anode materials in the electrochemical field.