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Color-stable,reduced efficiency roll-off hybrid white organic light emitting diodes with ultra high brightness 被引量:4
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作者 刘佰全 陶洪 +4 位作者 苏跃举 高栋雨 兰林锋 邹建华 彭俊彪 《Chinese Physics B》 SCIE EI CAS CSCD 2013年第7期450-453,共4页
High-brightness and color-stable two-wavelength hybrid white organic light emitting diodes (HWOLEDs) with the configuration of indium tin oxide (ITO)/ N, N, N, N-tetrakis(4-methoxyphenyl)-benzidine (MeO-TPD):... High-brightness and color-stable two-wavelength hybrid white organic light emitting diodes (HWOLEDs) with the configuration of indium tin oxide (ITO)/ N, N, N, N-tetrakis(4-methoxyphenyl)-benzidine (MeO-TPD): tetrafluoro-tetracyanoqino dimethane (F4-TCNQ)/N,N-di(naphthalene-1-yl)-N,N-diphenyl-benzidine (NPB)/ 4,4-N,N-dicarbazolebiphenyl (CBP): iridium (III) diazine complexes (MPPZ) 2 Ir(acac)/NPB/2-methyl-9,10-di(2-naphthyl)anthracene (MADN): p-bis(p-N,N-di-phenyl-aminostyryl)benzene (DSA-ph)/bis(10-hydroxybenzo[h] quino-linato)beryllium complex (Bebq2)/LiF/Al have been fabricated and characterized. The optimal brightness of the device is 69932 cd/m2 at a voltage of 13 V, and the Commission Internationale de l’Eclairage (CIE) chromaticity coordinates are almost constant during a large voltage change of 6–12 V. Furthermore, a current efficiency of 15.3 cd/A at an illumination-relevant brightness of 1000 cd/m2 is obtained, which rolls off slightly to 13.0 cd/A at an ultra high brightness of 50000 cd/m2. We attribute this great performance to wisely selecting an appropriate spacer together with effectively utilizing the combinations of exciton-harvested orange-phosphorescence/blue-fluorescence in the device. Undoubtedly, this is one of the most exciting results in two-wavelength HWOLEDs up to now. 展开更多
关键词 white light color stability efficiency roll-off high brightness
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Crafting host materials for narrowband blue OLEDs with low efficiency roll-off by the medium-ring strategy
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作者 Yuanyuan Bao Anping Luo +3 位作者 Jingbo Lan Junjie Liu Zhengyang Bin Jingsong You 《Science China Chemistry》 SCIE EI CAS CSCD 2024年第10期3265-3270,共6页
The pursuit of high-performance narrowband blue organic light-emitting diodes(OLEDs)is of paramount importance in both academic research and industrial applications.While obvious strides have been made in the design o... The pursuit of high-performance narrowband blue organic light-emitting diodes(OLEDs)is of paramount importance in both academic research and industrial applications.While obvious strides have been made in the design of narrowband blue emitters,the development of appropriate host materials has evidently trailed behind.Herein,we introduce a medium-ring strategy for crafting host molecules based on the heptagonal tribenzo[b,d,f]azepine(TBA)unit.The twisted three-dimensional(3D)architecture of the TBA framework not only endows the host molecules with fast hole-transporting pathways but also effectively reduces exciton quenching.Equipped with two TBA units,DTBA,synthesized with ease,demonstrates a huge horizontal orientation factor(Θ//)of 93.5%and a broad emission spectrum for accelerating the energy transfer process in the emitting layer,which contributes to enhancing device performance.We have fabricated high-performance narrowband blue OLEDs using DTBA as the host,FIrpic as the phosphor sensitizer,and the widely used boron-nitrogen-containing multiple resonance emitter BCz-BN.These devices exhibit a maximum external quantum efficiency(EQEmax)as high as 31.0%with an impressively lowefficiency roll-off.Even at a high luminance level of 10,000 cd m^(-2),the EQE value remains noteworthy at 20.3%,marking a significant advancement in BCz-BN-based devices. 展开更多
关键词 host molecule blue organic light-emitting diode low-efficiency roll-off multiple resonance C–H activation
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Realizing External Quantum Efficiency over 25% with Low Efficiency Roll-Off in Polymer-Based Light-Emitting Diodes Synergistically Utilizing Intramolecular Sensitization and Bipolar Thermally Activated Delayed Fluorescence Monomer 被引量:1
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作者 Yuchao Liu Yanchao Xie +4 位作者 Lei Hua Xingwen Tong Shian Ying Zhongjie Ren Shouke Yan 《CCS Chemistry》 CSCD 2023年第4期1005-1017,共13页
Since polymer-based light-emitting diodes(PLEDs)arewellsuited building blocks for large-area and low-cost flexible display equipment,state-of-the-art thermally activated delayed fluorescence(TADF)PLEDs are in high dem... Since polymer-based light-emitting diodes(PLEDs)arewellsuited building blocks for large-area and low-cost flexible display equipment,state-of-the-art thermally activated delayed fluorescence(TADF)PLEDs are in high demand.To respond to this demand,light-emitting TADF units have initially been modified with electron-transporting units to balance the carrier transport of regiorandom TADF polymers,and simultaneously,an intramolecular sensitizing strategy has also been employed by covalently incorporating TADF sensitizers with light-emitting TADF units and hosts in conjugated polymers to accelerate the spin-flip of triplet excitons.Superior photophysical properties have been achieved by a rational regulation of the proportions of each component,achieving a photoluminescence quantumyield of 90%,an extremely high rate of reverse intersystem crossing of 3×106 s−1,and a relatively low nonradiative decay rate of around 105 s−1.As a result,the solutionprocessed PLEDs can attain an external quantum efficiency(EQE)value of 25.4%with emission peaks of around 550 nm,representing record-high performance for PLEDs.The efficiency roll-off can also be significantly suppressed,maintaining an EQE value of 24.2%at 1000 cd/m2 with ideal efficiency roll-off of lower than 5%.Encouragingly,this work provides a valid strategy to tackle the imperative need for PLEDs with high EQE and low efficiency roll-off. 展开更多
关键词 thermally activated delayed fluorescence polymer light-emitting diodes intramolecular sensitizing strategy balanced carrier transports low efficiency roll-off
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滚装船载运的锂电池汽车仿真模拟研究
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作者 王彦富 张浩然 +2 位作者 乔健 熊梓迅 邹丽 《中国安全科学学报》 CAS CSCD 北大核心 2024年第9期107-113,共7页
为应对船舶运输中锂电池汽车火灾带来的严重后果,构建滚装船甲板上的锂电池汽车火灾仿真模型。首先,利用锂电池汽车全尺寸火灾试验数据,验证单辆和双辆锂电池汽车火灾仿真模型准确性。随后,应用经验证的仿真模型对滚装船甲板上的锂电池... 为应对船舶运输中锂电池汽车火灾带来的严重后果,构建滚装船甲板上的锂电池汽车火灾仿真模型。首先,利用锂电池汽车全尺寸火灾试验数据,验证单辆和双辆锂电池汽车火灾仿真模型准确性。随后,应用经验证的仿真模型对滚装船甲板上的锂电池汽车火灾模拟仿真,分析不同车辆间距下火灾热释放速率、温度和辐射热等变化特征。结果表明:在锂电池汽车火灾初期,火焰会先蔓延至并排停放的车辆,特别是受到喷射火影响的一侧车辆,然后再扩展至前后两侧的车辆,且前方车辆遭受的火灾损毁程度明显大于后方车辆。同时,喷射火会加剧锂电池汽车火灾的蔓延和发展,有喷射火区域的温度显著高于无喷射火区域,而受到喷射火影响的邻近车辆则最先被引燃。通过数值仿真手段可有效模拟船舶载运锂电池汽车火灾发展及蔓延过程。 展开更多
关键词 滚装船 锂电池汽车 汽车火灾 仿真模型 喷射火
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SPMT在井口平台组块滚装装船方式中的应用
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作者 张子良 《造船技术》 2024年第3期59-63,共5页
针对自行式模块化运输车(Self-Propelled Modular Transporter,SPMT)滚装装船方式,以蓬莱19-3油田4腿式井口平台组块为例,在称重布置、临时支撑布置、运输抬梁布置和轴线布置等方面对SPMT装船方案进行适配性设计,在组块强度、运输抬梁... 针对自行式模块化运输车(Self-Propelled Modular Transporter,SPMT)滚装装船方式,以蓬莱19-3油田4腿式井口平台组块为例,在称重布置、临时支撑布置、运输抬梁布置和轴线布置等方面对SPMT装船方案进行适配性设计,在组块强度、运输抬梁强度和SPMT车板强度等方面对该方案的运输强度进行校核,并对该方案进行拓展。该方案可为后续井口平台组块装船方案设计提供参考。 展开更多
关键词 井口平台 组块 滚装装船 自行式模块化运输车 适配性设计 运输强度校核
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基于VOF方法的规则波下破舱进水数值模拟
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作者 罗嗣祥 宋学敏 +1 位作者 刘维勤 王绪明 《武汉理工大学学报(交通科学与工程版)》 2024年第3期481-485,共5页
文中以某理想客滚船舱段模型为研究对象,基于VOF方法建立两相流体积模型,采用重叠网格和交界面网格技术,分析规则波下不同破口形状舱室模型破舱进水下的运动响应.结果表明:不同破口形状对破舱进水过程的影响主要表现为横摇时域的高频成... 文中以某理想客滚船舱段模型为研究对象,基于VOF方法建立两相流体积模型,采用重叠网格和交界面网格技术,分析规则波下不同破口形状舱室模型破舱进水下的运动响应.结果表明:不同破口形状对破舱进水过程的影响主要表现为横摇时域的高频成分,且不同破口形状导致的流量不同. 展开更多
关键词 破舱进水 破舱稳性 VOF 规则波 运动响应 客滚船
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滚装船在拖轮辅助下丁靠斜坡道的船舶系泊试验研究
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作者 叶文亮 薛丁源 +3 位作者 张万威 严士常 支远哲 杨越 《水道港口》 2024年第1期11-17,共7页
文章以某码头工程为例,针对1万t滚装船在拖轮辅助下丁靠斜坡道开展船舶系泊物理模型试验,分别对风、浪、流不同组合工况下的缆绳系缆力、船舶运动量等进行了试验研究,给出了作业及系泊条件,可为设计和运营提供参考。结果表明设计方案缆... 文章以某码头工程为例,针对1万t滚装船在拖轮辅助下丁靠斜坡道开展船舶系泊物理模型试验,分别对风、浪、流不同组合工况下的缆绳系缆力、船舶运动量等进行了试验研究,给出了作业及系泊条件,可为设计和运营提供参考。结果表明设计方案缆绳布置方式总体较为合理,使用拖轮辅助可以有效地平衡风、浪、流对滚装船的作用力,各组缆绳缆力未超过50%破断力的设计标准;对于系泊系统中各特征量,动力因素的影响次序自大至小依次为:波浪、风和水流,其中波浪周期在影响因素中最为显著;同样的波浪条件下,SW向波浪比WSW向波浪作用更为不利,实际运行管理中应结合波浪数模成果及码头前实际波浪方向调整系泊和作业状态。 展开更多
关键词 滚装船 系泊试验 系缆力 运动量
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A simple unilateral homogenous PhOLEDs with enhanced efficiency and reduced efficiency roll-off 被引量:2
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作者 Shaoqing ZHUANG Wenzhi ZHANG Xiao YANG Lei WANG 《Frontiers of Optoelectronics》 EI CSCD 2013年第4期435-439,共5页
In this paper, highly efficient phosphorescent organic lighting emitting diodes (PhOELDs) with low efficiency roll-off are demonstrated by using a unilateral homogenous device structure with wide band-gap material 4... In this paper, highly efficient phosphorescent organic lighting emitting diodes (PhOELDs) with low efficiency roll-off are demonstrated by using a unilateral homogenous device structure with wide band-gap material 4, 4', 4"-tri(N-carbazolyl)-triphenylamine (TCTA) as hole transporting layer and emitting layer (EML). The opti- mized blue device exhibits a high power efficiency of 40 lm/W, external quantum efficiency of 19.2% and current efficiency of 37.7cd/A. More importantly, the device exhibits a low efficiency roll-off at 1000 cd/m^2. In addition, the white homogenous PhOLEDs only exhibits the efficiency roll-off 5.6% and 17.5%, corresponding to the brightness of 1000 and 5000cd/m^2 respectively. These interesting results demonstrate that the simple unilateral homogenous device structure is a promising way to enhance the device efficiency and reduce the efficiency roll-off. 展开更多
关键词 enhance efficiency efficiency roll-off uni-lateral homogenous structures
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Suppressed threshold voltage roll-off and ambipolar transport in multilayer transition metal dichalcogenide feed-back gate transistors 被引量:1
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作者 Yang Liu Peiqi Wang +2 位作者 Yiliu Wang Yu Huang Xiangfeng Duan 《Nano Research》 SCIE EI CAS CSCD 2020年第7期1943-1947,共5页
The layered semiconducting transition metal dichaloogenides(S-TMDs)have attracted considerable interest as the channel material for field-effect transistors(FETs).However,the multilayer S-TMD transistors usually exhib... The layered semiconducting transition metal dichaloogenides(S-TMDs)have attracted considerable interest as the channel material for field-effect transistors(FETs).However,the multilayer S-TMD transistors usually exhibit considerable threshold voltage(Vn)shit and ambipolar behavior at high source-drain bias,which is undesirable for modern digital electronics.Here we report the design and fabrication of double feedback gate(FBG)transistors,i.e.,source FBG(S-FBG)and drain FBG(D-FBG),to combat these challenges.The FBG transistors differ from normal transistors by including an extra feedback gate,which is directly connected t0 the source/drain electrodes by extending and overlapping the source/drain electrodes over the yttrium oxide dielectrics on s-TMDs.We show that the S-FBG transistors based on mutilayer MoSg exhibit nearly negligible VIn rlloff at large source drain bias,and the D-FBG mutilayer WSe2 transistors could be tailored into either n-type or p-type transport,depending on the polarity of the drain bias.The double FBG structure offers an effective strategy to tailor multilayer s-TMD transistors with suppressed Vn roll-off and ambipolar transport for high-performance and low-power logic applications. 展开更多
关键词 two-dimensional transition metal dichalcogenides feedback gate transistor threshold voltage roll-off ambipolar behavior tailoring
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Novel thioxanthone host material with thermally activated delayed fluorescence for reduced efficiency roll-off of phosphorescent OLEDs 被引量:1
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作者 Hui Wang Xiaopeng Lv +3 位作者 Lingqiang Meng Xiaofang Wei Ying Wang Pengfei Wang 《Chinese Chemical Letters》 SCIE CAS CSCD 2018年第3期471-474,共4页
2,7-Di(9,9-dimethyl-9H-fluoren-l-yl)-9H-thioxanthen-9-one (DMBFTX) with thermally activated delayed fluorescence (TADF) was well designed and synthesized. The phosphorescent organic lightemitting device (PHOLED... 2,7-Di(9,9-dimethyl-9H-fluoren-l-yl)-9H-thioxanthen-9-one (DMBFTX) with thermally activated delayed fluorescence (TADF) was well designed and synthesized. The phosphorescent organic lightemitting device (PHOLED) based on this novel TADF host material displays a stable red phosphorescence region, a peak external quantum efficiency (EQE) value of 12.9% and a low EQE roll-off of 38.8%at a luminance of 10000 cd/m2, which is benefited from the reverse intersystem crossing (RISC) of TADF host and less populated triplet exitons. Notably, the red device based on the TADF host DMBFrX exhibits superior electroluminescence performance and reduced efficiency roll-offcompared with the one hosted by commercially available host 1,3-bis(9-carbazolyl)benzene (mCP), illustrating the high potential of employing the TADF host material with small energy gap to reduce efficiency roll-off in PHOLED. 展开更多
关键词 Low efficiency roll-off Thermally activated delayed fluorescence Small energy gap Reverse intersystem crossing Phosphorescent OLEDs
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Efficient deep blue OLEDs with extremely low efficiency roll-off at high brightness based on phenanthroimidazole derivatives
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作者 Xiang Chen Jue-Wen Zhao +5 位作者 Xu-Hui Zheng Jie-Ji Zhu Guo-Xi Yang Shan-Shun Tang Qing-Xiao Tong Si-Lu Tao 《Chinese Chemical Letters》 SCIE CAS CSCD 2019年第11期1989-1993,共5页
Phosphorescent and thermally activated delayed fluorescence(TADF)emitters can break through the spin statistics rules and achieve great success in external quantum efficiency(over 5%).However,maintaining high efficien... Phosphorescent and thermally activated delayed fluorescence(TADF)emitters can break through the spin statistics rules and achieve great success in external quantum efficiency(over 5%).However,maintaining high efficiency at high brightness is a tremendous challenge for applications of organic light emitting diodes.Hence,we reported two phenanthroimidazole derivatives PPI-An-CN and PPI-An-TP and achieved extremely low efficiency roll-off with about 99%of the maximum external quantum efficiency(EQEmax)maintained even at a high luminance of 1000 cd/cm2 based non-doped devices.When doping the two materials in CBP(4,4'-bis(N-carbazolyl)-1,1'-biphenyl),the doped devices still exhibited excellent stability at high brightness with CIEy≈0.07 and low turn-on voltage of only 2.8 V.The state-ofthe-art low efficiency roll-off makes the new materials attractive for potential applications.It is the first time that the Fragment Contribution Analysis method has been used to analyze the excited state properties of the molecules in the field of OLEDs,which helps us understand the mechanism more intuitively and deeply. 展开更多
关键词 OLED Deep blue Phenanthroimidazole Low efficiency roll-off Fragment contribution analysis
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A Series of Pure Orange-yellow Iridium Complexes with Low Efficiency Roll-off: a Computational Study
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作者 SONG Mingxing HUANG Jian +5 位作者 BAI Fuquan WANG Chunxu LIU Hongbo WANG Jin LI Dongfei QIN Zhengkun 《Chemical Research in Chinese Universities》 SCIE CAS CSCD 2016年第3期451-454,共4页
The electronic structures and spectroscopic properties of heteroleptic cyclometalated iridium(Ⅲ) complexes were investigated. The geometries, electronic structures, and the lowest-lying excited states of (DBQ)2Ir... The electronic structures and spectroscopic properties of heteroleptic cyclometalated iridium(Ⅲ) complexes were investigated. The geometries, electronic structures, and the lowest-lying excited states of (DBQ)2Ir(acac) and (MDQ)2Ir(acac) were investigated via density functional theory-based approaches. A series of designed models of (DBQ)2Ir(dpis), (DBQ)2Ir(tpip), (MDQ)2Ir(dpis) and (MDQ)2Ir(tpip) was also calculated for comparison. The structures in the ground and excited states were optimized via B3LYP method. The lowest absorptions and emissions spectra were evaluated via TD-B3LYP and TD-PBE1PBE methods, The computational results reveal that the emission peaks of the designed complexes are at around 585-640 nm, which belong to the orange-yellow wavelength. The frontier molecular orbital properties indicate that the Ir(Ⅲ) complexes have low efficiency roll-off. 展开更多
关键词 Organic light-emitting diode(OLED) Ir(Ⅲ) complex Time-dependent density functional theory(TD-DFT) Excited state Efficiency roll-off
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电控纠偏系统在冷轧酸洗镀锌产线的应用
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作者 王朝兵 张艳 +2 位作者 顾文礼 李小涵 张民生 《冶金设备管理与维修》 2024年第3期71-73,共3页
阐述了冷轧酸洗镀锌产线电控纠偏系统的分类,原理及其应用范围,对电控纠偏系统的电容式传感器、电感式传感器及摄像式传感器的特点及其原理进行了详细分析。
关键词 冷轧酸洗镀锌 带钢跑偏 纠偏系统 传感器
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一种大型港口起重机整机滚装方式装卸船方案
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作者 牟寿堂 韩中成 +1 位作者 陈凡 林润泽 《港口装卸》 2024年第2期58-60,共3页
大型港口起重机设备在制造厂及用户码头具备条件的情况下,通常在制造厂完成绝大部分的安装及调试工作后,采用整体滚装方式进行装船、卸船。结合工程实践,给出了一种大型港口起重机整机滚装方式装卸船方案,介绍了船舶选择、施工过程及其... 大型港口起重机设备在制造厂及用户码头具备条件的情况下,通常在制造厂完成绝大部分的安装及调试工作后,采用整体滚装方式进行装船、卸船。结合工程实践,给出了一种大型港口起重机整机滚装方式装卸船方案,介绍了船舶选择、施工过程及其关键技术要点。 展开更多
关键词 大型 港口起重机 整体滚装 船舶选择 施工过程
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太极拳“掤捋挤按”的文化隐喻
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作者 姜丽敏 《当代体育科技》 2024年第8期110-113,共4页
该文运用文献资料法等研究方法,对习练太极拳的要求和论述进行了梳理和剖析,并结合笔者自身对太极拳的体悟,对其外在的技术特点和内在的文化隐喻进行了分析。认为“掤捋挤按”是太极拳的技术之基,其中蕴含“以方为体,以圆为用”的立身之... 该文运用文献资料法等研究方法,对习练太极拳的要求和论述进行了梳理和剖析,并结合笔者自身对太极拳的体悟,对其外在的技术特点和内在的文化隐喻进行了分析。认为“掤捋挤按”是太极拳的技术之基,其中蕴含“以方为体,以圆为用”的立身之本;内隐“以形为本,以意律体”的中和之法;追求“以内引外,整合化一”的无为之境。最终指出,太极拳不仅要在技术上回归,更要追求文化上的传承,需找回太极拳“掤捋挤按”中隐喻的文化意涵。 展开更多
关键词 太极拳 “掤捋挤按” 修身 和谐 无为
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基于机器视觉的棒线材废料尺寸综合测量
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作者 刘楠欣 杜预 +1 位作者 朱雷 白龙 《组合机床与自动化加工技术》 北大核心 2024年第5期136-140,共5页
从控制棒线材剪切废料长度进而提高棒线材轧制过程自动化水平的角度出发,提出了一种基于机器视觉的棒线材剪切废料外形尺寸测量方法,并设计了对应图像采集装置。基于图像合并和UNet神经网络,该方法提出了剪切废料中变形段和正常段的判... 从控制棒线材剪切废料长度进而提高棒线材轧制过程自动化水平的角度出发,提出了一种基于机器视觉的棒线材剪切废料外形尺寸测量方法,并设计了对应图像采集装置。基于图像合并和UNet神经网络,该方法提出了剪切废料中变形段和正常段的判定标准并给出了变形段长度测量结果。所提出的测量方法对检测环境和目标外形的变化具有鲁棒性,对于样本量要求远低于其他传统神经网络因而更适用于实际工业数据集,而长度方向的量程也可随图像数量的增减而灵活调整。采用真实剪切废料样本进行测量实验,结果表明该测量方法简单有效、精确度高,且由于模型具有轻量化、可预训练的特点,该方法具备在线监测部署潜力。 展开更多
关键词 棒线材剪切料 机器视觉 尺寸测量 UNet神经网络
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控轧控冷工艺对Q235B热轧H型钢氧化铁皮特征及剥离性能的影响
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作者 田亚强 蒲实 +4 位作者 王惠聪 吴立红 柳鑫华 李秀清 陈连生 《热加工工艺》 北大核心 2024年第15期144-148,共5页
对Q235B热轧坯料进行了实验室模拟轧制和弯折矫直试验。结合SEM、XRD等试验手段,研究了控轧控冷工艺参数对Q235B热轧H型钢氧化铁皮特征及其剥离性能的影响规律。结果表明:在其他轧制工艺参数相同的条件下,随着终轧温度的升高,氧化铁皮... 对Q235B热轧坯料进行了实验室模拟轧制和弯折矫直试验。结合SEM、XRD等试验手段,研究了控轧控冷工艺参数对Q235B热轧H型钢氧化铁皮特征及其剥离性能的影响规律。结果表明:在其他轧制工艺参数相同的条件下,随着终轧温度的升高,氧化铁皮的厚度呈增加趋势,FeO相比率增加,Fe_(3)O_(4)相比率降低。随着冷却速度的提高,氧化皮的厚度呈减小趋势,FeO相比率增加,Fe_(3)O_(4)相比率降低。随着Fe_(3)O_(4)相比率增加,FeO相比率降低,氧化皮从大块剥离向小块剥离再向细粉状剥离过渡。 展开更多
关键词 热轧H型钢 控轧控冷 氧化铁皮 弯折矫直 剥离
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四足机器人特定复杂运动技能控制 被引量:1
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作者 许鹏 赵建新 +4 位作者 范文慧 邱天奇 江磊 梁振杰 刘宇飞 《兵工学报》 EI CAS CSCD 北大核心 2023年第S02期135-145,共11页
为了提高四足机器人的运动多样性和地形适应性,提出一种复杂运动行为控制方法,通过构建四足机器人动力学模型,在此基础上进行离线滚动优化预测,生成四足机器人复杂行为的期望轨迹。在运动学、关节扭矩、接触力、运动状态和地形高度等非... 为了提高四足机器人的运动多样性和地形适应性,提出一种复杂运动行为控制方法,通过构建四足机器人动力学模型,在此基础上进行离线滚动优化预测,生成四足机器人复杂行为的期望轨迹。在运动学、关节扭矩、接触力、运动状态和地形高度等非线性约束下更全面地优化了轨迹,设计在线轨迹跟踪控制器与落足控制器,实现四足机器人复杂行为的在线控制。在多复杂运动的动态仿真环境下评估了所提方法,机器人可以实现前跳、后空翻、前空翻和旋转跳跃,并可以在给定地形信息下跳跃障碍物。将在线轨迹跟踪控制器迁移到四足机器人物理样机中,完成了四足机器人向前跳跃的实验。实验结果表明,所提出的方法能够使四足机器人有效地完成多种特定复杂运动技能的稳定控制。 展开更多
关键词 四足机器人 复杂行为 离线滚动优化预测 在线轨迹跟踪控制器
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大型结构物滚装装船关键技术研究 被引量:2
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作者 王磊 佘玥霞 +2 位作者 宋柏辰 高敏 毛堂瑾 《化工管理》 2023年第7期75-77,共3页
大型钢结构物的装船工艺一般有四种方式:起重船吊装工艺、轨道滑车工艺、滑移装船工艺和滚装装船工艺。受场地和其他因素的限制,越来越多的项目现采用滚装装船技术,但滚装装船过程整个过程是否安全可行关系到整个工程成败的重要环节,因... 大型钢结构物的装船工艺一般有四种方式:起重船吊装工艺、轨道滑车工艺、滑移装船工艺和滚装装船工艺。受场地和其他因素的限制,越来越多的项目现采用滚装装船技术,但滚装装船过程整个过程是否安全可行关系到整个工程成败的重要环节,因此大型结构物滚装装船的关键技术—小车梁载荷分配的研究显得尤为重要,不但能提高整个过程的科学性、安全性、可靠性,也使大型结构物滚装装船工艺成为安全可行。 展开更多
关键词 小车梁 载荷 滚装 运输
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船舶滚装通道结构设计与轻量化优化 被引量:1
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作者 章征华 秦玉槐 《现代制造技术与装备》 2023年第12期60-62,共3页
船舶滚装通道是船舶上重要的货物运输通道,其结构设计和轻量化优化对于提高船舶运输效率和降低能耗具有重要意义。文章分析了船舶滚装通道的结构设计和轻量化优化,并探讨了未来的优化方向。
关键词 汽车滚装船 滚装通道 轻量化
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