粗轧机前推床同步拉杆断裂的分析与改进

通过对机前推床同步拉杆的受力分析及强度计算，查找出了造成拉杆断裂的原因，并提出了解决拉杆断裂的具体措施。     

Decentralized adaptive coordinated control of multiple robot arms without using a force sensor

This paper presents a distributed adaptive coordinated control method for multiple robot arms grasping a common object. The cases of rigid contact and rolling contact are analyzed. In the proposed controller, the dynamic parameters of both object and robot arms are estimated adaptively. The desired motions of the robot arms are generated by an estimated object reference model. The control method requires only the measurements of the positions and velocities of the object and robot arms, but not the measurements of forces and moments at contact points. The asymptotic convergence of trajectory is proven by the Lyapunov-like Lemma. Experiments involving two robot arms handling a common object are shown.     

天然气管网输配气量优化研究

天然气管网系统管理部门为了明确天然气管网的输气能力和提高天然气管网的利用率，需要对天然气管网系统的输配气量进行优化。为此，以天然气管网系统的最大流量为目标函数，同时考虑了管道强度、节点压力和流量限制等约束条件，建立了天然气管网输配气量优化的数学模型。在研究遗传算法和模拟退火算法的基础上，提出了一种由二者结合构成的具有全域搜索、快速收敛和鲁棒性强等特点的混合遗传算法。结合实例，采用这一新算法求解了天然气管网输配气量优化的数学模型。实例优化结果表明，所建立的数学模型和采用的混合遗传算法是可行和有效的，能够对天然气管网系统输配气量的调度运行起到指导作用。     

具有随机输入的混合复合动态系统的稳定性判据

本文给出了如图1所示的具有随机输入的混合复合动态系统的稳定性分析,所讨论的系统由一个算子L和一个随机微分方程描述的方块组成。对于这样的系统,我们建立了随机吸引性、随机渐近稳定性、随机有界性、大范围随机渐近稳定性、p吸引性、渐近p稳定性、一致p有界性和大范围渐近p稳定性的判据。这些判据包含了一些假设,这些假设描述了算子L和整个系统的定性I/O性质和表示了由随机微分方程描述的子系统的性质。     

有环境约束时完成一族跟踪任务的力控制

本文为工业机器人提出了一种极点配置控制法，这种控制方法的优点有：一是它的积分作用消除了机器人的微小扰动和稳态误差；二是能任意设置系统的极点，因此能保证闭环系统的稳定性和规定状态变量的暂态响应；三是加入了加速度反馈，抑制了由电枢电感所引起的机械手的振动，最后，给出了ＰＵＭＡ５６２机器人的计算机仿真和实验结果验证了此控制法的有效性。     

NUMERICAL SIMULATIONS OF WHOLE FIELD BEHAVIOR FOR ROUND BUOYANT JET

ＮＵＭＥＲＩＣＡＬＳＩＭＵＬＡＴＩＯＮＳＯＦＷＨＯＬＥＦＩＥＬＤＢＥＨＡＶＩＯＲＦＯＲＲＯＵＮＤＢＵＯＹＡＮＴＪＥＴＬｉＷｅｉ，ＨｕａｉＷｅｎ－ｘｉｎ（ＷｕｈａｎＵｎｉｖｅｒｓｉｔｙｏｆＨｙｄｒａｕｌｉｃａｎｄＥｌｅｃｔｒｉｃＥｎｇｉｎｅｅｒｉｎｇ，...     

An eight‐node hybrid‐stress solid‐shell element for geometric non‐linear analysis of elastic shells

This paper presents eight‐node solid‐shell elements for geometric non‐linear analysis of elastic shells. To subdue shear, trapezoidal and thickness locking, the assumed natural strain method and an ad hoc modified generalized laminate stiffness matrix are employed. A selectively reduced integrated element is formulated with its membrane and bending shear strain components taken to be constant and equal to the ones evaluated at the element centroid. With the generalized stresses arising from the modified generalized laminate stiffness matrix assumed to be independent from the ones obtained from the displacement, an extended Hellinger–Reissner functional can be derived. By choosing the assumed generalized stresses similar to the assumed stresses of a previous solid element, a hybrid‐stress solid‐shell element is formulated. Commonly employed geometric non‐linear homogeneous and laminated shell problems are attempted and our results are close to those of other state‐of‐the‐art elements. Moreover, the hybrid‐stress element converges more readily than the selectively reduced integrated element in all benchmark problems. Copyright © 2002 John Wiley & Sons, Ltd.     

The Influence of the Amount of Fluoride Catalyst on the Morphological Properties of the Anilinepropylsilica Xerogel Prepared in Basic Medium

Anilinepropylsilica hybrid powder was synthesized by a sol-gel route in basic medium using HF as catalyst. The effect of the amount of HF catalyst on the morphologies and on organic content was studied. The xerogels were characterized using FTIR, SEM and N₂ adsorption-desorption isotherms. The increase in the HF quantity results in an slight increase in organic content and changes in the particle size, surface area and pore structure.     

用于安全稳定控制的高压直流极闭锁判据

交直流并联运行电网中直流极闭锁后引起的安全稳定问题十分突出，如何正确判别直流极闭锁是安全稳定控制系统研究中的重要课题。采用数值仿真方法分析了直流极闭锁对电力系统稳定的影响，指出稳定控制装置必须正确、快速地判出不同形式的直流极闭锁。通过研究直流极闭锁的电气量特征以及直流控制保护系统的动作行为，提出了可靠的直流极闭锁综合判据，并进行了详细的阐述。通过介绍中国南方交直流混联电网安全稳定控制系统核心部分———高肇直流输电安全稳定控制系统，进一步论述了研究直流极闭锁判据及直流极闭锁后稳定控制的重要性。