Improved direct inverse tracking control of a piezoelectric tube scanner for high-speed AFM imaging

For a piezoelectric tube scanner (PTS), this paper proposes an improved direct inverse tracking control algorithm and apply it to an atomic force microscope (AFM) to accomplish high-speed scanning tasks. That is, to enhance the high-speed tracking control performance of a PTS, an improved direct inverse rate-dependent Prandtl–Ishlinskii (P–I) model is firstly constructed, which includes a polynomial module to eliminate the structure nonlinearity. Based on the model, a practical feedforward control law is then designed to implement high-speed tracking control for a high-frequency trajectory with strong robustness, which presents the advantages of high-speed response, simple structure and convenient implementation. Subsequently, the designed feedforward law is combined with a feedback component, and the combined control strategy is employed in an AFM to accomplish fast imaging tasks. Numerous experimental results are then collected, which convincingly demonstrate the superior performance of the proposed practical model/control scheme.     

某型号收割机割刀机构及其传动部件惯性力平衡的研究

针对某型号收割机割刀执行及传动机构的实际工作中的性能需求,在完成机构惯性力最小的基础上,考虑实际工作情况权衡各方面因素的部分平衡的最优方案,最终得出了最优的设计参数,其研究方案可为类似杆机构惯性力平衡问题提供有益的参考。     

基于康复训练中力信号的人体参与度建模

设计一种基于人机接触力的人体主动参与程度评估模型,用于康复机器人应用中的主动康复训练。通过人体的肌电信号得到肌肉活跃度,确定肌电信号与人体参与度的关系。分析这一过程中人机接触力的变化,将腿部力信号平均值以及腰部力信号方差作为模型输入,对基于肌电信号的参与度模型进行拟合,得到基于力信号的参与度模型,使用肌电信号参与度模型对力信号参与度模型进行验证,证明了该模型的有效性。该方法避免了肌电信号采集时干扰较大且准备工作繁琐等缺点,具有良好的实用性。     

Synergistic effects of anisotropy and image force on TEM diffraction contrast of dislocation loops

Based on column approximation (CA) assumption, many-beam Schaeublin–Stadelmann diffraction equations are employed for simulating the transmission electron microscopy (TEM) diffraction image contrast of dislocation loops within thin TEM foil of finite thickness, and two beam and many beam diffraction conditions are compared. Moreover, the effects of materials anisotropy and free surface relaxation induced elastic fields distortion of dislocation loops on the black-white image contrast are specially focused. It is found that anisotropy has a remarkable impact on the TEM image contrast of dislocation loop, and free surface relaxation induced image forces can change the black-white contrast features when dislocation loops are near TEM foil free surfaces. Thus, in order to make reliable judgment on the nature of defects, effects of free surface and anisotropy should be included when analysing irradiation induced dislocation loops and other type of defects in in-situ electron, proton, heavy-ion irradiation experiments under TEM environments.     

橡塑往复密封性能参数数值求解流程与物理模型探讨

橡塑往复密封的密封寿命通常是通过膜厚、承载力、泄漏率、磨损率等参数以表征。为获取上述参数,佐治亚大学SALANT提出橡塑往复密封模型建立和数值计算求解流程。为更好地理解与应用该方法,从橡塑往复密封物理结构、数值求解流程、Reynolds方程建立、方程约束边界建立、GW接触模型建立、力载平衡等6个方面系统地分析其特点与不完备之处,并从6个方面探讨数值求解流程和数值模拟的修正方法;提出密封模型修正方法,给出修正后密封数值求解流程,使得计算结果更好地与实际工作性能相吻合,并能较好地揭示密封机制。     

Control-faced dynamics with deformation compatibility for a 5-DOF active over-constrained spatial parallel manipulator 6PUS–UPU

Taking into account the effect of structural compliance, inverse dynamics of the active over-constrained parallel manipulator 6PUS–UPU with five degrees of freedom is solved in this article. Firstly, the relationship between driving forces and actuated force screws of each limb is derived. Then the coordination of elastic deformation between limbs which consider the effect of gravity and inertia is acquired. Finally the unique solution of driving forces for the active over-constrained parallel manipulator is derived by incorporating the force equilibrium equation of the moving platform. To validate the theoretical derivation, dynamics simulation model of manipulator based on rigid–flexible mixed structure is shown and numerical examples are given. Comparison with the traditional method of dynamics based on pseudo-inverse is also made. Finally, a feasible experimental method, as an effective test to the theoretical calculation, is proposed and applied on the prototype.     

Experimental study on vibration-induced clamping force reduction in fuel cell structures

When applied to transportation systems, fuel cell structures are exposed to external mechanical disturbance including shocks and harmonic excitations from operating components. To minimize performance degradation from machine operations, the fuel cell structure needs to be examined via vibration reliability tests. In this study, the reduction in the clamping force of the stack by random vibrations was investigated by experiments. The stack mass and gasket were clamped with bolts for vibration tests. The vibration induced shear movements between clamped stacks. To estimate the vibration input magnitudes, the Dirlik method was used. The reduction in the stack clamping force was estimated using the Basquin's power law. The clamping force decreased by the shear vibration input to the stack structure. The degree of clamping force reduction was larger for the heavier stack. When the stacks were separated by the gasket the reduction became smaller. Through the Dirlik method, the vibration reliability of the stack was evaluated. This information provides severity of the external vibration on the stack functionality.     

Ice aluminum debonding with induction heating#

The strong ice bonding to solid surfaces makes deicing such surfaces a challenging task. In this study, a heat flux will be induced into the interlayer of the ice and in this case aluminum. With a high heat flux it is possible to obtain a small liquid layer between the ice and the aluminum. In metallic materials the heat flux can be induced with an electromagnetic field via induction heating. The thickness of the heated metal layer depends on the frequency applied for the induction heating. High frequencies result in very thin layers of metal heated and hence represent an energy efficient method for de-icing the metal surface. The reduction of the energy consumption for deicing is the main goal. One application is the ice removal in ice slurry generators in this study. Compared to ice removal (scraped surface ice slurry generators) induction heating deicing offers energy and maintenance saving potential.     

附加外场力对锌锅表层锌液流动和锌渣分布的影响

实测了热镀锌锌锅表层锌液的流速,并分析了锌锅浮渣的分布特点,提出了一种在锌锅锌液上方主动加载外场力作用以驱动锌液流动进而改变锌渣分布的新方法,称为锌渣流动管理方法(DFMS-Dross Flowing Management System)。通过源力加载的方式修正了流体动量守恒方程,建立了锌液流场数值计算模型,模拟了不同外场力加载布局下锌锅表层锌液的流场。结果表明,附加外场力作用可有效促进锌锅表层锌液的切向流动,最大切向流速可达0.8 m/s;表层锌液的切向流动可拖动锌渣跟随流动,进而改变锌渣分布,促进锌锅排渣,证实了DFMS的有效性。模拟结果还表明,锌锅表层锌液的切向流速受外场力加载时间的影响较小,而随加载外场力的增大而增大,但加载外场力的大小对100~200 mm深锌液的流速影响较小。最后,通过定义锌锅表层锌液的排渣时间因子讨论了不同外场力加载方式的排渣效率。     

基于摄动法的表贴式永磁电机转子偏心空载气隙磁场计算

采用摄动法解析计算表贴式永磁电机转子偏心空载气隙磁场,以无量纲的偏心扰动量作为摄动变量,可解决表贴式永磁电机内转子结构和外转子结构的转子偏心磁场解析问题。根据气隙区域及永磁体区域的边界条件求解拉普拉斯方程和泊松方程,通过矢量磁位推导出气隙磁通密度的解析表达式,进而应用麦克斯韦应力张量法计算不平衡磁拉力,并将解析法结果与有限元法结果进行比较,发现二者一致性较好,验证了该方法的正确性和有效性。