Balance recovery control for biped robot based on reaction null space method

A biped walking robot should be able to keep balance even in the presence of disturbing forces.This paper presents a step strategy concept of biped walking robot that is stabilized by using reaction null space method.The called "step strategy" can be modeled by means of the reaction null space method that introduced earlier to tackle dynamic interaction problems of free-floating robots,or moving base robots in general.6-DOF biped robot model simulations are used to confirm the validity.     

Crystal structure of Cr4AlB4: A new MAB phase compound discovered in Cr-Al-B system

In this communication, the crystal structure of Cr_4AlB_4, a new MAB phase compound(where M is a transition metal, A is Al or Si, B is boron) discovered in Cr-Al-B system is reported. This new MAB phase was synthesized from a mixture of CrB and Al powders at 1000?C and its crystal structure was determined by a combination of X-ray diffraction, first-principles calculations and energy dispersive X-ray spectroscopy(EDS). Cr_4AlB_4 crystallizes in an orthorhombic structure with Immm space group. The lattice constants are a = 2.9343(6) ?, b = 18.8911(0) ?, c = 2.9733(7) ?, and the atomic positions are Cr1 at 4 g(0, 0.2936(5),0), Cr2 at 4 h(0.5, 0.5859(7), 0), Al at 2 b(0, 0.5, 0.5), B1 at 4 h(0, 0.3839(8), 0.5) and B2 at 4 g(0.5, 0.6646(2),0.5).     

4U平行四边形机构的一类新用途——整体设计为两足步行机构

提出了将4U平行四边形机构整体设计为两足步行机构的一类新用途.此类两足步行4U平行四边形机构均由4个构件和4个万向铰组成,能够实现平面运动.根据万向铰布置方式的不同,分为3种构型.在针对构型Ⅰ的前期研究基础之上,应用螺旋理论分析了构型Ⅱ和Ⅲ的自由度,并分别对其进行了运动学分析、步态分析和稳定性分析.此外,还将3种构型的性能与应用作了进一步的分析与比较.运用ADAMS软件建立3种构型的动力学模型,仿真其运动的全过程,验证该类构型及其运动的可行性.制作出2台样机,实现了预期的运动.     

Experimental research on air film formation behavior of air cushion belt conveyor with stable load

In this paper, the air film formation behavior of air cushion belt conveyor with stable load is studied. The air cushion field is analyzed by means of theoretical derivation, numerical simulation and experimental research. An intelligent experiment platform is developed. Three dimensional pressure distribution of air film and the air film thickness distribution along the conveyor belt in the width direction are obtained. The experimental result is analyzed by comparing with theoretical calculation and numerical simulation. The numerical and theoretical results are in good agreement with those obtained from experiments. The air film formation behavior pattern of air cushion belt conveyor with stable load is presented. The optimized film thickness and pore distribution are obtained based on the comprehensive energy consumption. This study provides a basis for the optimization design of air cushion belt conveyor.     

Synthesis of Ti2SnC from Ti/Sn/TiC powder mixtures by pressureless sintering technique

Ti/Sn/TiC powder mixtures were first employed to synthesize Ti₂SnC powder by pressureless sintering in the temperature range of 950–1250 °C at vacuum atmosphere. Ti₂SnC began to form at 950 °C, its content increased with increasing temperature. High purity of Ti₂SnC was obtained by sintering the mixtures with deficient Sn and TiC at 1200 °C for 15 min. A reaction mechanism was proposed to explain the formation of Ti₂SnC. The Ti₂SnC powder was characterized by scan electron microscopy (SEM) and X-ray diffraction (XRD). Using the above mixtures and process, the Ti₂SnC ceramic powder can be obtained on a larger scale.     

Low temperature synthesis,structural characterization,and zero-field resistivity of nanocrystalline La1−xSrxMnO3+δ (0.0 ≤ x ≤ 0.3) manganites

This paper reports the synthesis of nanocrystalline strontium doped manganites by a simple and instantaneous solution combustion method, which is a low temperature initiated route to prepare fine-grained oxide powders with good surface area. Rietveld refinement of X-ray data indicates that the as-formed manganites exhibit a cubic phase with space group Pm3m. However calcined (900 °C, 6 h) samples transform into rhombohedral phase with space group R-3c. The scanning electron micrographs of the powders reveal that the sizes of very fine primary particles which are in an agglomerated form, decrease as strontium content increases. The infrared spectra of lanthanum manganites show two active modes at 400 and 600 cm⁻¹. From zero-field resistivity measurements, it is found that all the samples exhibit metal–insulator transition (T_M–I) in the range of 219–252 K, which is low as compared to the samples prepared by ceramic route. The lower (T_M–I) values might be due to smaller particle sizes in the range of 25–45 nm.     

增程式燃料电池车经济性与耐久性优化控制策略

为了避免车用燃料电池由于启停变化、功率波动等状态而导致的性能衰退,在能量管理控制策略的开发过程中需要在保证经济性的同时兼顾燃料电池的耐久性.针对该目标,建立了基于改进动态规划算法的增程式燃料电池车经济性与耐久性优化控制策略,将燃料电池的启停状态设为状态变量,在燃料电池的启动和关闭状态之间增加怠速过渡阶段,实现了燃料电池...