Exponential Set-Point Stabilization of Underactuated Vehicles Moving in Three-Dimensional Space

This paper investigates the stabilization of underactuated vehicles moving in a three-dimensional vector space. The vehicle’s model is established on the matrix Lie group SE(3), which describes the configuration of rigid bodies globally and uniquely. We focus on the kinematic model of the underactuated vehicle, which features an underactuation form that has no sway and heave velocity. To compensate for the lack of these two velocities, we construct additional rotation matrices to generate a motion of rotation coupled with translation. Then, the state feedback is designed with the help of the logarithmic map, and we prove that the proposed control law can exponentially stabilize the underactuated vehicle to the identity group element with an almost global domain of attraction. Later, the presented control strategy is extended to set-point stabilization in the sense that the underactuated vehicle can be stabilized to an arbitrary desired configuration specified in advance. Finally, simulation examples are provided to verify the effectiveness of the stabilization controller.      

Synthesis of UV-curable acrylate polymer containing sulfonic groups for anti-fog coatings

A series of UV curable hydrophilic acrylate polymers containing sulfonic acid group was prepared via free radical copolymerization using 2-acrylamido-2-methyl propane sulfonic acid (AMPS) as hydrophilic monomer, which were used as prepolymers for anti-fog coatings. The expected structures were confirmed by FT-IR, ¹H NMR and gel permeation chromatography (GPC). These UV-curable acrylate polymers were then mixed with reactive diluents and photoinitiator to form coating formulas. Various substrates were coated with these formulas and cured under UV exposure to obtain transparent coatings with good adhesion and hardness. The anti-fog properties of UV-cured coating were measured by contact angle test and anti-fog test. The results showed that the AMPS content in prepolymer had a great influence on the anti-fog properties of UV-cured coating. The formula was optimized and the corresponding UV-curing anti-fog coating was manufactured. The test results indicated that the coatings showed good mechanical properties, great optical transparency and excellent anti-fog performance.     

UV–944对聚酰胺6抗紫外光老化和热氧稳定性的影响

在己内酰胺开环水解过程中,加入一定量的聚{[6-[(1,1,3,3-四甲基丁基)氨基]]-1,3,5-三嗪-2,4-[(2,2,6,6-四甲基-哌啶基)亚氨基]-1,6-己二撑[(2,2,6,6-四甲基-4-哌啶基)亚氨基]}(UV–944),合成改性聚酰胺6。研究了UV–944对聚酰胺6光稳定性、热氧稳定性和末端氨基含量的影响。结果表明,UV–944的加入能明显提高聚酰胺6的耐紫外光老化及热氧稳定性,在空气氛围下的起始分解温度提高28℃左右;在185℃老化0.5 h后,改性聚酰胺6的相对黏度下降极低(UV–944质量分数为0.05%时,相对黏度仅下降了3.1%),热氧稳定性明显得到改善。同时,聚酰胺6的末端氨基含量增加,加入UV–944质量分数分别为0.05%,0.2%时,聚酰胺6的末端氨基含量比纯聚酰胺6提高5.1,18.7 mmol/kg,对染色性能明显有所改善。而UV–944对聚酰胺6的热稳定性、熔融温度与结晶温度影响不大。     

PCA系列自制聚羧酸高效减水剂的性能研究

在自制聚羧酸缓凝减水剂PCA基础上,通过掺加单体总质量15%丙烯酰胺,聚合得到聚羧酸减水剂PCA-AM15;通过添加还原剂V降低反应能耗,常温聚合得到聚羧酸缓凝减水剂PCA-AMV15。对PCA、PCA-AM15和PCA-AMV15进行水泥净浆性能测试。结果表明,在水灰比0.29,掺量为水泥质量0.3%的情况下,PCA-AM15具有良好的净浆力学性能,减水率达到35.2%,缓凝效果低于PCA,初凝和终凝时间分别为453 min和647 min,3 d、7 d和28 d水泥净浆试块抗压强度分别达到了70.9 MPa、89.5 MPa和97.4 MPa,优于PCA;由于还原剂V的加入,PCA-AMV15净浆力学性能与PCA-AM15相似,3 d、7 d和28 d水泥净浆试块抗压强度分别达到了69.0 MPa、86.4 MPa和97.0 MPa。在保持产品性能基本不变的情况下,通过适当丙烯酰胺和还原剂V可调整产品质量及成本。     

低渗透储层分类标准及其综合评价——以敖包塔-葡萄花油田FⅡ油层组为例

敖包塔-葡萄花油田钻遇扶杨油层FⅡ油层组有效孔隙度主要分布在10%~15%之间,平均为12.6%;空气渗透率一般分布在0.1~10×10-3μm2之间,属低孔、特低渗透性储层。通过对选用7项宏观参数与7项微观参数确定储层综合评价参数并建立分类标准,确定出每个评价参数的分级标准,将敖包塔-葡萄花油田FⅡ油层组的储层分为四类,其中Ⅰ类最好,为低渗透储层;Ⅱ类次之,为特低渗透储层;Ⅲ类再次之,为超低渗透储层;Ⅳ类储层最差,为极差储层。依据专家经验及大量反复实验的结果上确定了权重系数,预测了FⅡ油层组的储层有利区带,结果表明敖包塔-葡萄花油田FⅡ油层组以Ⅰ类储层和Ⅱ类储层区为主,其中最有利储层区(Ⅰ类储层区)主要呈条带状分布于研究区北部的葡332~葡54~葡115-51、葡31、葡462、敖10等井区。     

雾霾治理的偏好性--以奥运期间首钢搬迁为例

中国在近些年的经济发展规划中提出经济转型计划--走资源节约型,环境友好型的发展道路,这说明环境治理工作是一项不可忽视的、对社会各方面进程均会产生影响的任务。但是,环境治理需要顶层设计和路径选择。本文主要以首钢搬迁为例,讨论在治理以雾霾为代表的环境治理中,偏好性事实的产生及其后果。     

玻璃窑炉池底电熔锆刚玉铺面砖的质量改善

通过砂型在保温箱内的摆放形式,详细介绍改善前后浇铸成型及保温退火等过程,使制品的体积密度、成品率、生产成本等大大改善。同时对玻璃生产运行的安全性及延长窑炉的使用寿命都有了可靠保证。     

工科院校化学课程群建设的研究与实践

工科院校化学课程群建设包括理论课程体系建设、实验课程体系建设、教学方法与手段的研究与实践、师资队伍建设、教材建设等。教学实践表明,理论课程新教学体系的科学性、系统性、先进性、完整性和新颖性,实验课程形成了一体化、三层次、多模块化学课程群实验平台,对普通高等院校化学课程群建设改革提供参考。     

酰胺-盐体系溶解聚对苯二甲酰对苯二胺的机制

将碱金属盐(如LiCl)、碱土金属盐(如CaCl2)等溶解于酰胺类溶剂,分析了该类溶剂体系对聚对苯二甲酰对苯二胺(PPTA)的助溶解机制,指出金属盐对聚合物的助溶解主要是金属盐溶剂化物通过"离子"和"离子对"形式与PPTA大分子链相互作用,破坏了氢键并生成更强的相互作用力,使PPTA聚合物能充分溶解于溶剂中,利于高分子聚合反应顺利进行以得到相对分子质量大的PPTA聚合物。