轻量级电驱水下机械臂设计与运动学分析

设计了一款四功能水下机械臂，并对驱动关节进行了模块化设计和密封测试。为了保证水下机械臂的可靠性，在水下机械臂水下测试前，进行了强度校核和模态分析。为了验证水下机械臂的性能，通过 Ｄ- Ｈ法建立了其运动学模型，在此基础上分别进行了正、逆运动学分析。此外还采用蒙特卡洛法，在正运动学分析的基础上研究了工作空间特点。研究结果将为进一步的运动控制提供有益的帮助。     

黔北桑木场背斜铅锌矿深部找矿实例分析*#br#

黔北桑木场背斜位于上扬子地块黔北隆起区毕节弧形褶皱带与赤水克拉通盆地的交汇部位，属于有利的铅锌成矿区带。区内铅锌矿的赋矿层位主要有震旦系灯影组、寒武系清虚洞组、高台组及石冷水组，矿体多产于背斜核部并受断层或裂隙控制。通过对地层岩性特征、地表矿化特征、控容矿构造特征、化探异常特征、物探异常特征等进行综合研究，选择在成矿有利地段进行了工程验证，为进一步开展桑木场背斜铅锌矿深部找矿工作提供了思路。     

A Voltage Control Method for a Distributed Line Feeder by means of Multiagent Approach

This paper proposes a method for the coordinated control of power factor by means of a multiagent approach. The proposed multiagent system consists of two types of agent: single feeder agent (F_AG) and bus agent (B_AG). In the proposed system, an F_AG plays as an important role, which decides the power factors of all distributed generators by executing the load flow calculations repeatedly. The voltage control strategies are implemented as the class definition of Java into the system. In order to verify the performance of the proposed method, it has been applied to a typical distribution model system. The simulation results show that the system is able to control very violent fluctuation of the demands and the photovoltaic (PV) generations.     

陕北沙漠区浅埋厚煤层开采潜水位及生态响应

煤炭开采造成上覆岩层破裂、移动，破坏了矿区含（隔）水层结构，改变了地表水及地下水循环演化状态，对浅表层生态环境造成严重影响，引发一系列环境地质问题。为深入研究沙漠地区厚煤层开采给潜水位及生态环境造成的影响，以毛乌素沙漠金鸡滩矿为例，对水文地质条件进行了研究，采用数值模拟的方法，模拟了沙漠区厚煤层开采潜水位的变化，并通过采动潜水位监测数据验证了预测结果。调查分析了研究区及周边地表生态环境现状，预测采后潜水位基本满足植物生长需求，对生态环境影响不大。     

基于现场监测与数值模拟的浅层采空区稳定性分析

隐患采空区是目前影响露天开采矿山安全生产的主要危害源之一。随着台阶开采的不断剥离,露天开采境界内各台阶与地下空区群的隔离层厚度越来越薄,随时有可能发生采空区顶板坍塌事故。考虑到露天矿采空区地质赋存条件和围岩稳固性等特征,以弓长岭露天铁矿浅层采空区为工程背景,运用现场监测和数值模拟相结合的手段综合分析了浅层采空区的稳定性。将液体静力水准地表沉降监测系统的监测数据与FLAC数值模拟结果对比,调整蠕变参数使得数值模拟的蠕变速率与现场监测结果一致,而后据此进行未来结果的预测。最终根据地表沉降数据确定的蠕变参数取值为A=1.0×10^-12、m=1.75、n=0.35。研究表明:静力水准测点地表最大沉降位移为-9.8 mm,蠕变计算结果顶板最大垂直位移约20.4 mm,应力最大值约25 MPa,综合分析显示该采空区较稳定。上述研究提供了一种基于采空区现场监测数据的数值模拟蠕变分析方法,可为类似矿山采空区稳定性分析提供借鉴。     

基于粒子群优化算法的五自由度机械臂轨迹规划

为了让机械臂的工作时间达到最优,以自主研发的抛光机器人样机为研究对象,针对手表表壳表耳部分的抛光过程,提出PSO算法对五自由度机械臂轨迹规划进行优化,并通过MATLAB软件进行机械臂的仿真与分析。仿真结果表明,基于PSO算法的轨迹规划使机械臂在工作过程中加加速度不会产生突变,运动轨迹精度高,机械臂工作时间达到最优。     

Finite element optimization of sample geometry for measuring the torsional shear strength of glass/metal joints

Assessment of mechanical properties of glass/metal joints is a challenging process, especially when the application relevant conditions of the joints have to be considered in the test design. In this study, a finite element method (FEM) is implemented to analyze a torsional shear strength test designed for glass-ceramic/steel joints aiming towards solid oxide fuel/electrolysis cells application. Deviations from axial symmetry of the square flanges (ends) of respective hourglass-shaped specimens and also supporting and loading sockets of the test set-up are included in the model to simulate conditions close to reality. Undesirable tensile stress and also shear stress concentration appear at the outer edge of glass-ceramic layers, which are less for the hollow-full specimen. The simulation results show that for a specimen with either 9 mm thick square- or 6 mm thick triangular-flanges, locally enhanced tensile stresses almost disappear, resulting in a symmetric shear stress distribution. The difference between the analytically derived nominal shear strength and the real critical shear stress derived via simulation reduces with decreasing the fracture torque.     

水平岩层软弱基座危岩体演化过程研究

以重庆市甄子岩29号危岩体为研究对象，基于现场调查和分析解剖，建立UDEC离散元数值计算模型，对其演化变形过程进行模拟分析。研究表明，在巨大的自重作用下，由于基座岩体岩质软，岩体较破碎，且基座外侧为直立的陡崖，具有完整的临空面，从而使基座岩体易发生压缩流变及剪切流变，进而使危岩体存在滑移垮塌的危险。     

蛋类礼盒包装结构的缓冲性能研究

目的研究蛋类礼盒包装结构的缓冲性能。方法以蛋类尺寸为基础,建立可发性聚乙烯(expandable polyethylene. EPE)缓冲单元结构和组合结构,进行静态仿真分析和实验验证,比较结构在形状、叠合层数、组合形式等参数变化时的载荷与位移。结果结构层数变化相同时,单元结构的极限载荷从143N增加到236 N,组合结构的极限载荷从224 N增加到476 N,均呈近线性增长。结论蛋类礼盒包装中,组合结构的承载能力优于单元结构,通过单元结构的组合,可满足不同蛋类的包装要求。     

Psychrophilic hydrogen production from petrochemical wastewater via anaerobic sequencing batch reactor: techno-economic assessment and kinetic modelling

Independent hydrogen production from petrochemical wastewater containing mono-ethylene glycol (MEG) via anaerobic sequencing batch reactor (ASBR) was extensively assessed under psychrophilic conditions (15–25 °C). A lab-scale ASBR was operated at pH of 5.50, and different organic loading rates (OLR) of 1.00, 1.67, 2.67, and 4.00 gCOD/L/d. The hydrogen yield (HY) progressed from 134.32 ± 10.79 to 189.09 ± 22.35 mL/gMEG_initial at increasing OLR from 1.00 to 4.00 gCOD/L/d. The maximum hydrogen content of 47.44 ± 3.60% was achieved at OLR of 4.0 gCOD/L/d, while methane content remained low (17.76 ± 1.27% at OLR of 1.0 gCOD/L/d). Kinetic studies using four different mathematical models were conducted to describe the ASBR performance. Furthermore, two batch-mode experiments were performed to optimize the nitrogen supplementation as a nutrient (C/N ratio), and assess the impact of salinity (as gNaCl/L) on hydrogen production. HY substantially dropped from 62.77 ± 4.09 to 6.02 ± 0.39 mL/gMEG_initial when C/N ratio was increased from 28.5 to 114.0. Besides, the results revealed that salinity up to 10.0 gNaCl/L has a relatively low inhibitory impact on hydrogen production. Eventually, the cost/benefit analysis showed that environmental and energy recovery revenues from ASBR were optimized at OLR of 4.0 gCOD/L/d (payback period of 7.13 yrs).