RESUMEN
Steel cables used to raise sluices require a layer of corrosion-resistant grease, which must be periodically replaced. It is time-consuming and laborious, and conventional manual cleaning, mechanical cleaning, and chemical cleaning methods have many drawbacks. In this paper, a nanosecond pulsed fiber laser is used to clean hardened surface grease from such cables. An experimental system was designed to study the effects of parameters such as the laser power, scanning speed, cleaning frequency, and defocusing amount. Macroscopic and microstructural observations were conducted on the surfaces of steel cables before and after cleaning using cameras, optical microscopy, scanning electron microscopy, and energy dispersive spectrometry. With the optimal parameters, laser cleaning can effectively remove hardened grease from steel cable surfaces without damaging the galvanized layer and the steel wire matrix. Ablation, gasification, and evaporation are the main mechanisms by which grease and dirt are removed. This study lays a foundation for optimizing the laser cleaning of steel sluice cables at work sites.
RESUMEN
Climbing robots are designed to conduct tasks that may be dangerous for humans working at height. In addition to improving safety, they can also increase task efficiency and reduce labor costs. They are widely used for bridge inspection, high-rise building cleaning, fruit picking, high-altitude rescue, and military reconnaissance. In addition to climbing, these robots need to carry tools to complete their tasks. Hence, their design and development are more challenging than those of most other robots. This paper analyzes and compares the past decade's design and development of climbing robots that can ascend vertical structures such as rods, cables, walls, and trees. Firstly, the main research fields and basic design requirements of climbing robots are introduced, and then the advantages and disadvantages of six key technologies are summarized, namely, conceptual design, adhesion methods, locomotion modes, safety mechanisms, control methods, and operational tools. Finally, the remaining challenges in research on climbing robots are briefly discussed and future research directions are highlighted. This paper provides a scientific reference for researchers engaged in the study of climbing robots.
RESUMEN
A static environment is a prerequisite for the stable operation of most visual SLAM systems, which limits the practical use of most existing systems. The robustness and accuracy of visual SLAM systems in dynamic environments still face many complex challenges. Only relying on semantic information or geometric methods cannot filter out dynamic feature points well. Considering the problem of dynamic objects easily interfering with the localization accuracy of SLAM systems, this paper proposes a new monocular SLAM algorithm for use in dynamic environments. This improved algorithm combines semantic information and geometric methods to filter out dynamic feature points. Firstly, an adjusted Mask R-CNN removes prior highly dynamic objects. The remaining feature-point pairs are matched via the optical-flow method and a fundamental matrix is calculated using those matched feature-point pairs. Then, the environment's actual dynamic feature points are filtered out using the polar geometric constraint. The improved system can effectively filter out the feature points of dynamic targets. Finally, our experimental results on the TUM RGB-D and Bonn RGB-D Dynamic datasets showed that the proposed method could improve the pose estimation accuracy of a SLAM system in a dynamic environment, especially in the case of high indoor dynamics. The performance effect was better than that of the existing ORB-SLAM2. It also had a higher running speed than DynaSLAM, which is a similar dynamic visual SLAM algorithm.
RESUMEN
Surface plasmon polaritons (SPPs) show great promise in providing an ultracompact platform for integrated photonic circuits. However, challenges remain in easily and efficiently coupling light into and subsequently routing SPPs. Here, we theoretically propose and experimentally demonstrate a switchable bi/tridirectional beam splitter which can simultaneously perform both tasks. The photonic device consists of a periodic array of slanted gold 'mushrooms' composed of angled dielectric pillars with gold caps extruding from a periodic array of perforations in a gold film. The unidirectional coupling results from the interference of the in-plane guided modes scattered by a pair of dislocated gold gratings, while the output channel is determined by the polarization of the incident beam. This device, in combination with dynamic polarization modulation techniques, has the potential to serve as a router or switch in plasmonic integrated circuits.
RESUMEN
A mechanism for realizing nonreciprocal elementary excitation of spin wave (SW) is proposed. We study a reference model which describes a magnonic crystal (MC) formed by two Heisenberg chains with a lateral displacement (dislocation) and a longitudinal spacer, and derive a criterion to judge whether the elementary excitation spectra are reciprocal in this ferromagnetic lattice. An analytical method based on the spin precession equation is used to solve the elementary excitation spectra. The solution is related to a key factor, the spatio-temporal structure factor [Formula: see text], which can be directly calculated through the structural parameters. When it keeps invariant under the reversions of the external magnetic field [Formula: see text] and the dislocation [Formula: see text], or one of them, the spectra are reciprocal. Otherwise, the SW possesses nonreciprocal spectra with direction-dependent band edges and exhibits a directional magnetoresistance effect. This criterion can be regarded as a necessary and sufficient condition for the (non)reciprocity in the spin lattice. Besides, this novel lattice provides a prototype for spin diodes and spin logic gates.