Design and manufacturing of mobile micro manipulation system with a compliant piezoelectric actuator based micro gripper

This paper presents a new design of mobile micro manipulation system for robotic micro assembly where a compliant piezoelectric actuator based micro gripper is designed for handling the miniature parts and compensation of misalignment during peg-in-hole assembly is done because piezoelectric actuator has capability of producing the displacement in micron range and generates high force instantaneously. This adjusts the misalignment of peg during robotic micro assembly. The throughput/speed of mobile micro manipulation system is found for picking and placing the peg from one hole to next hole position. An analysis of piezoelectric actuator based micro gripper has been carried out where voltage is controlled through a proportional-derivative (PD) controller. By developing a prototype, it is demonstrated that compliant piezoelectric actuator based micro gripper is capable of handling the peg-in-hole assembly task in a mobile micro manipulation system.     

Bamboo biochar-catalytic degradation of lignin under microwave heating

Abstract

Lignin biochar-catalytic depolymerization using biochar Fe-600, Fe-800, Ni-600, Ni-800 catalysts under microwave-heating (180?°C for 30?min) was explored in an ethanol/formic acid (1:1) media. Non-catalyst depolymerization was also studied and compared with the biochar-catalysts results. Characteristics of the bio-char catalysts were analyze by BET, XRD, and FT-IR. GPC, FT-IR, and MALDI-TOF MS spectrometry were also used to characterize the depolymerization products. The experimental results showed that the S_BET, V_t, and V_mec and average pore diameter of the biochars are considerably dependent on the preparation temperature and type of cation (Ni²⁺ or Fe³⁺). The maximum yield of bio-oil product was obtained as 85?wt% with the addition of biochar Ni-600 and the total amount of oligomers or monomers with a molecular weight of 164 to 446 reaches 80.4%.     

动态高压微射流处理对方竹笋膳食纤维理化及结构特性的影响

以方竹笋中提取的膳食纤维为研究对象，采用动态高压微射流（dynamic high-pressure micro-fluidization, DHPM）在不同压力条件（0，50，100，150，200 MPa）下进行处理，探究其对竹笋膳食纤维（bamboo shoots dietary fiber, BSDF）理化和结构特性的影响。结果表明，随着处理压力的增大，BSDF粒径先增大后减小，当处理压力为150 MPa时，粒径最小，为（370±11） nm，此条件下BSDF的持水力、持油力和膨胀力达到最大，较对照组分别提高了47.74%，50.54%，61.27%，且差异显著（P<0.05）。红外光谱分析表明DHPM处理不会改变BSDF的官能团，但会使BSDF内部的部分氢键断裂和半纤维素、木质素等发生降解；X射线衍射和热重分析表明DHPM处理不会引起BSDF的晶体结构改变，但晶体有序度会下降，进而导致其热稳定性降低；微观结构分析显示DHPM处理会使BSDF颗粒尺寸减小、表面粗糙、组织松散，且当处理压力为200 MPa时，颗粒发生团聚。综上，DHPM可以有效改善BSDF的理化性质，在膳食纤维改性方面具有一定的应用价值。     

Weak coin flipping with small bias

This paper presents a quantum protocol that demonstrates that weak coin flipping with bias ≈0.239, less than 1/4, is possible. A bias of 1/4 was the smallest known, and followed from the strong coin flipping protocol of Ambainis in [33rd STOC, 2001] (also proposed by Spekkens and Rudolph [Phys. Rev. A 65 (2002) 012310]). Protocols with yet smaller bias ≈0.207 have independently been discovered by Ambainis (2001) and Spekkens and Rudolph [Phys. Rev. Lett. 89 (2002) 227901]. We also present an alternative strong coin flipping protocol with bias 1/4 with analysis simpler than that of Ambainis [33rd STOC, 2001].     

海洋石油平台水下夹桩器本体结构分析

水下夹桩器是一种广泛应用于海洋石油平台建设的液压夹具。水下夹桩器本体焊接在导管架上，支撑夹桩器液压缸。在水下夹桩器本体设计中，采用有限元法完成了对本体强度和刚度的结构分析；建立了有限元分析模型，用ANSYS软件进行结构分析，得到了分析结果，并将该结果与理论计算结果进行了比较，验证了有限元分析技术的有效性。设计结果满足工程要求，为改进和优化结构提供了理论依据，节省了分析计算时间。     

The complexity of oblivious plans for orienting and distinguishing polygonal parts

In the problem ofparts feeding we are given a class of feasible operations for reorienting a part, and we are asked to find a fixed sequence of these operations which is guaranteed to bring the part into a known goal orientation from any possible initial orientation. Goldberg addressed this problem in [2], and showed that, for planar polygonal parts, there is always a sequence of simple operations which can be performed by a simple parallel-jaw gripper, which is guaranteed to orient the part (up to symmetry) without the use of any sensor information; he also conjectured thatO(n) steps are sufficient.In this paper we prove Goldberg's conjecture by explicitly constructing plans of at most2n – 1 steps for orienting polygonal parts in this model. We also give a lower bound on the number of steps required for such plans to show that this upper bound is tight.Finally, we extend these results to the problem ofdistinguishing among a finite set of parts using minimal sensing. Specifically, we assume that we are given a set of known polygonal parts, and a parallel-jaw gripper able to sense the distance between its jaws upon closure. We construct a simple oblivious plan of linear complexity which, when presented with a polygonal part, determines the index of this part.This research was supported in part by the NSF under Grant CCR-9207422, and by a Zumberge Fellowship. A preliminary version of this paper appeared in theProceedings of the Fourth Canadian Conference on Computational Geometry [1].     

竹/玻璃钢复合建筑材料的研制及性能分析

竹/玻璃钢复合建筑材料是一种新型三维复合材料.本文对其进行了结构设计的研究,并通过大量试验对其力学性能进行了分析,结果证明竹/玻璃钢复合建筑材料确实是一种重量轻、性能好、工艺简单、价格便宜的材料,具有广阔的应用前景.     

竹纤维素的结构表征

对纺织用竹纤维、黏胶用竹浆粕、造纸用竹浆粕、高级竹浆粕进行物化性能分析,并对其结构进行表征。显微镜观察显示,竹纤维纵向表面有竹节,相比纺织用竹纤维光滑的表面,竹浆粕呈现明显的微纤结构;由X-衍射(WAXD)分析结果可知,纺织用竹纤维结晶属于典型的纤维素Ⅰ,内部具有完善的微纤结构,结晶度和晶粒尺寸均明显高于三种竹浆粕,主要原因是分子间具有更强的氢键作用。     

竹材丙酮法木质素高效分离技术研究

在一定的温度、压力条件下,利用丙酮提取竹材中的木质素,丙酮通过蒸馏回收后,可以反复利用;而通过蒸馏,得到的高纯度的木质素是重要的化工原料,整个过程形成一个封闭循环系统,基本上无三废排放;研究结果表明:当丙酮浓度为80%,液固比为10∶1,在最高反应温度160℃下保温3h,降解木质素的效果最佳;为解决制浆造纸行业废水对环境的污染问题提出了一条新的途径。     

高纯竹叶碳苷黄酮复合纳米生物材料的制备及其结构表征（急）

采用离子交联法，以高纯竹叶碳苷黄酮制剂（碳苷总质量分数﹥90%，记为H-BLF）和芫根阴离子多糖（TP）为原料，通过ε-聚赖氨酸（ε-PL）的阳离子桥键合而成竹叶碳苷黄酮纳米混悬液（H-BLFnd），进一步在混悬液中添加8%（w/v）的γ-环糊精、经真空冷冻干燥得到纳米冻干粉（H-BLFnp），采用粒径分析、TEM、UV、FTIR、TG和DSC对其外观、性能、结构进行表征。结果表明： H-BLFnp外观为白色粉状，表面光洁平整，色泽均匀，平均粒径为（679±10.2）nm，分散系数为（0.349±0.004），包埋率为（92.39±0.34）%。