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。     

Theoretical and Experimental Studies for the Transient Response of Cavity

During the transient state of aero-engine,cavity has evidently transient characteristics in the secondary air system.To investigate transient characteristics,theoretical and experimental studies were implemented for both static and rotating cavities.First of all,the typical transient response phenomena in secondary air system were investigated based on the basic concepts of the dynamic process.According to the basic theory of gas dynamics,the causes of transient phenomena were analyzed in two aspects,external disturbance,and system physical properties.Several dimensionless parameters were introduced to analyze the transient response characteristics of air system.Second,the experimental results of the static cavity indicated that the actual response time increased with the increase of the inlet pressure.The experimental results of the rotor-stator cavity showed that the low rotational speed on the response process had little effect,and the response time gradually increased when the speed continued to increase.Third,the test results of multiple components suggested that when the valve was opening the inlet pressure of the static cavity increased quickly and then reached a stable value,but the pressure of the static cavity,stable pressure cavity and rotor-stator chamber rose gradually.It was also obtained the actual response time of them was increased.The closer the measuring points were to the disturbance source,the shorter the delay time was.     

磨削表面粗糙度对γ-TiAl合金抗弯强度的影响

为了研究表面加工质量对硬脆性高温合金抗弯性能的影响,对不同磨削表面粗糙度的全片层γ-TiAl(Ti-47.5Al-2.5V-1.0Cr)合金进行了抗弯性能试验,分析了表面粗糙度对其抗弯强度的影响规律。试验结果表明,随着表面粗糙度的增大,全片层γ-TiAl合金的抗弯强度明显降低。结合断裂形貌图分析了全片层γ-TiAl合金组织中裂纹的萌生、扩展及最终发生宏观断裂的方式,全片层γ-TiAl合金裂纹大多起裂于因加工纹理引起的应力集中区域附近的片层间,并优先在层间扩展,最终的断裂形式多为穿层的脆性瞬断。     

Compressive strength and microstructure of alkali-activated fly ash/slag binders at high temperature

This paper reports the results of the compressive strength and microstructure of various alkali-activated binders at elevated temperatures of 300 and 600 °C. The binders were prepared by alkali-activated low calcium fly ash/ground granulated blast-furnace slag at ratios of 100/0, 50/50, 10/90 and 0/100 wt.%. Specimens free of loading were heated to a pre-fixed temperature by keeping the furnace temperature constant until the specimens reached a steady state. Then the specimen was loaded to failure while hot. XRD, SEM and FTIR techniques were used to investigate the microstructural changes after the thermal exposure. The fly ash-based specimen shows an increase in strength at 600 °C. On the other hand, the slag-based specimen gives the worst high-temperature performance particularly at a temperature of 300 °C as compared to ordinary Portland cement binder. This contrasting behaviour of binders is due to their different binder formulation which gives rise to various phase transformations at elevated temperatures. The effects of these transformations on the compressive strength are discussed on the basis of experimental results.     

Bayesian data analysis to quantify the uncertainty of intact rock strength

One of the main difficulties in the geotechnical design process lies in dealing with uncertainty. Uncertainty is associated with natural variation of properties, and the imprecision and unpredictability caused by insufficient information on parameters or models. Probabilistic methods are normally used to quantify uncertainty. However, the frequentist approach commonly used for this purpose has some drawbacks.First, it lacks a formal framework for incorporating knowledge not represented by data. Second, it has limitations in providing a proper measure of the confidence of parameters inferred from data. The Bayesian approach offers a better framework for treating uncertainty in geotechnical design. The advantages of the Bayesian approach for uncertainty quantification are highlighted in this paper with the Bayesian regression analysis of laboratory test data to infer the intact rock strength parameters σ_(ci) and m_i used in the Hoek-Brown strength criterion. Two case examples are used to illustrate different aspects of the Bayesian methodology and to contrast the approach with a frequentist approach represented by the nonlinear least squares(NLLS) method. The paper discusses the use of a Student's t-distribution versus a normal distribution to handle outliers, the consideration of absolute versus relative residuals, and the comparison of quality of fitting results based on standard errors and Bayes factors. Uncertainty quantification with confidence and prediction intervals of the frequentist approach is compared with that based on scatter plots and bands of fitted envelopes of the Bayesian approach. Finally, the Bayesian method is extended to consider two improvements of the fitting analysis. The first is the case in which the Hoek-Brown parameter, a, is treated as a variable to improve the fitting in the triaxial region. The second is the incorporation of the uncertainty in the estimation of the direct tensile strength from Brazilian test results within the overall evaluation of the intact rock strength.     

Precipitation location of secondary phase and microstructural evolution during static recrystallization of as-cast Ti-25V-15Cr-0.3Si titanium alloy

The microstructural evolution and precipitation location of the secondary phase of an as-cast Ti-25V-15Cr-0.3Si titanium alloy were investigated via isothermal compression experiments and heat treatment. The average aspect (length-to-width) ratio, average area and size of the grains at different heat treatment temperatures and holding time were analyzed and the effects of deformation and annealing time on the grain area and size were considered. It was found that the grain size was strongly influenced by the height reduction and holding time. Grain growth was significant when annealing time increased from 10 min to 2 h at 950 °C and height reduction of 30%; however, grain growth was minimal at annealing time between 2 and 4 h. Many dispersion particles were observed to form in continuous chains; the precipitation location was confirmed to be along initial grain boundaries, and the dispersion particles were identified to be Ti₅Si₃ phase by TEM.     

不同降雨入渗条件下预应力锚索加固边坡稳定性分析

为了研究不同降雨条件下边坡安全系数及预应力锚索轴力变化规律,以省道S303沿线某边坡为研究对象,考虑土体饱和-非饱和渗流与非饱和强度理论,基于有限元分析,对不同降雨工况下的孔隙水压分布、锚索轴力及采用强度折减法计算的边坡安全系数变化规律进行了研究。结果表明: 降雨量一定时,降雨入渗范围随雨强增大而减小,暂态饱和区域随雨强增加而增大; 边坡在加固前后的安全系数均随降雨量增加而不断减小,采用预应力锚索加固能有效提高边坡安全系数,并减小降雨对边坡稳定性的影响; 随着降雨量增加,各锚索轴力均增大,当降雨量一定时,雨强越小,对应的锚索轴力提升幅度越大,靠近底部的锚索轴力对降雨最为敏感。     

Characterization and actuation behavior of SPS/SGO ion exchange polymer actuator based on PEDOT: PSS/SGO composite electrode

ABSTRACT

This paper studied the fabrication of new hybrid-type poly(3,4- ethylene dioxythiophene) (PEDOT)/sulfonated graphene oxide electrode-based polymer actuator produced by film casting method. Sulfonated Poly(1,4-phenylene ether-ether sulfone) (SPS) ion-exchange polymer membrane-based ionic polymer composite actuators were fabricated using the different concentration of SGO. The characterization and actuation were demonstrated. By altering SGO concentration, four different SPS based membrane actuators were analyzed. The effects of SGO concentration on the morphology, proton conductivity, ion exchange capacity, and water uptake capability were studied. The maximum tip displacement and force by varying concentration of SGO were evaluated for the actuation performance.     

基于P波模量的原位胶结充填体强度预测模型研究

原位胶结充填体质量评价通常采用单轴抗压强度作为表征指标,由于在现场工程中无法快速、准确获取充填体的强度值,因此需要建立一种参数易于获取且准确的原位胶结充填体强度预测模型。基于胶结充填体物理力学参数的内在联系,从量纲平衡的角度探索了胶结充填体单轴抗压强度与P波模量的关系。根据C矿和I矿两种原位胶结充填体的密度、P波速度及取芯强度的测试数据,采用线性拟合的方法获得了基于P波模量的原位胶结充填体强度预测模型。通过对C矿和I矿的强度预测模型拟合效果分析可知,P波模量与取芯强度呈正相关性,且拟合效果较好,证明原位胶结充填体强度预测模型精度高,具有很强的实用性。     

气化灰基腻子粉的制备与性能研究

为实现气化灰综合利用和降低腻子粉制备成本，研究了利用气化灰替代水泥制备腻子粉的技术可行性。以气化灰和 42.5水泥为主要原料，配以少量的羟丙基甲基纤维素和可分散性乳胶粉，制备气化灰基腻子粉，实验考察原料配方变化对腻子粉的性能影响。研究结果表明：利用气化灰替代水泥制品制备腻子粉具有可行性。其中，气化灰替代 50%水泥时，腻子粉的粘结强度为 0.82 Mpa，各项性能均优于建筑外墙用腻子粉标准 JG/T 157—2009要求。在相同条件下，气化灰替代不超过 70%的水泥时，腻子粉的粘结强度及其他指标均满足建筑外墙用腻子粉标准 JG/T 157—2009要求。