Design and analysis of a class of redundant collaborative manipulators with 2D large rotational angles

The parallel spindle heads with high rotational capability are demanded in the area of multi-axis machine tools and 3D printers. This paper focuses on designing a class of 2R1T (R: Rotation; T: Translation) parallel spindle heads and the corresponding collaborative 5-axis manipulators with 2-dimension (2D) large rotational angles. In order to construct 2D rotational degrees of freedom (DOFs), a platform with 2D revolute joints is proposed first. Based on the constraint screw theory, the feasible limbs that can be connected in the platform are synthesized. In order to provide constant rotational axis for the platform, a class of redundant limbs are designed. A class of redundant 2R1T parallel spindle heads is obtained by connecting the redundant limbs with the platform and the redundant characteristics are verified by the modified Grübler-Kutzbach criterion. The corresponding 5-axis collaborative manipulators are presented by constructing a 2-DOF series translational bottom moving platform. The inverse kinematics and the orientation workspace as well as the decoupling characteristics of this type of 2R1T parallel spindle heads are analyzed. The results show that these manipulators have large 2D rotational angles than the traditional A3/Z3 heads and can be potentially used in the application of multi-axis machine tools and the 3D printers.     

New approaches to determine the interface height of fire smoke based on a three-layer zone model and its verification in large confined space

Large confined space has high incidence of fires, which seriously threatens the safety of people working there. Understanding the distribution of smoke in such large space is critical to fire development prediction and smoke control. Three improved methods for the stratification interface prediction of fire smoke are developed, including of improved intra-variance, integral ratio and N-percentage methods. In these methods, the interface height is determined by the vertical temperature distribution based on a three-layer smoke zone model, which is an improvement of a two-layer zone model. Thereafter, the three improved methods are applied to several typical fire cases simulated CFD to predict the smoke interface, and their applicability and reliability are verified by comparison of the smoke stratification results with the filed simulation results. Results show that the three improved methods can effectively determine the location of the three-layer zone model's interface, and they have the ability to predict smoke interface for fires with different fire source types and ventilation conditions.     

Thermal and transport properties of as-grown Ni-rich TiNi shape memory alloys

Electrical resistivity, Seebeck coefficient, specific heat and thermal conductivity measurements on the Ti_50−xNi_50+x (x = 0.0–1.6 at.%) shape memory alloys are performed to investigate their thermal and transport properties. In this study, anomalous features are observed in both cooling and heating cycles in all measured physical properties of the slightly Ni-rich TiNi alloys (x ≤ 1.0), corresponds to the transformation between the B19′ martensite and B2 austenite phases. Besides, the transition temperature is found to decrease gradually with increasing Ni content, and the driving force for the transition is also found to diminish slowly with the addition of excess Ni, as revealed by specific heat measurements. While the signature of martensitic transformation vanishes for the Ni-rich TiNi alloys with x ≥ 1.3, the characteristics of strain glass transition start to appear. The Seebeck coefficients of these TiNi alloys were found to be positive, suggesting the hole-type carriers dominate the thermoelectric transport. From the high-temperature Seebeck coefficients, the estimated value of Fermi energy ranges from ∼1.5 eV (Ti_48.4Ni_51.6) to ∼2.1 eV (Ti₅₀Ni₅₀), indicating the metallic nature of these alloys. In addition, the thermal conductivity of the slightly Ni-rich TiNi alloys with x ≤ 1.0 shows a distinct anomalous feature at the B19′ → B2 transition, likely due to the variation in lattice thermal conductivity.     

大直径平底负压容器优化设计

通过对大直径平底负压容器平底板的设计计算,平底板计算厚度很厚。通过分析,提出了对平底板采取加强措施,从而减薄平底板计算厚度的方法。该容器在实际生产过程中性能可靠、稳定,对类似设备设计具有借鉴意义。     

Producing fully-lamellar microstructure for wrought beta-gamma TiAl alloys without single α-phase field

Fine-grained fully-lamellar (FL) microstructure is desired for TiAl components to serve as compressor/turbine blades and turbocharger turbine wheels. This study deals with the process and phase transformation to produce FL microstructure for Mo stabilized beta-gamma TiAl alloys without single α-phase field. Unlike the α + γ two-phased TiAl or beta-gamma TiAl with single α-phase field, the wrought multi-phase TiAl–4/6Nb–2Mo–B/Y alloys exhibit special annealing process to obtain FL microstructure. Short-term annealing at temperatures slightly above β-transus is recommended to produce the desired FL microstructure. The related mechanism is to guarantee the sufficient diffusion homogenization of β stabilizers during single β-phase annealing, and further avoid α decomposition by α → γ + β when cooling through α + β + γ phase field. The colony boundary β phase contributes to fine-grained nearly FL microstructure, by retarding the coarsening of the α phase grains.     

Strong coupling effects during Cu/In/Ni interfacial reactions at 280 °C

The substantial heat generated in three-dimensional integrated circuits and high-power electronics has made thermal management a critical challenge for reliability in the electronics industry. Pure indium solder has been used as a thermal interface material to minimize the contact thermal resistance between a chip and its heat sink. Indium and indium-based alloys are potential lead-free solder for low-temperature applications. Heat sinks in the heat dissipation system as well as substrates of electronic joints are usually made of copper, with nickel being the most commonly used diffusion barrier on the chip side. Therefore, the Cu/In/Ni sandwich structure would be encountered in electronic devices. The soldering process for forming the Cu/In/Ni structure crucially determines the reliability of devices. In this study, Cu/In/Ni interfacial reactions at 280 °C were investigated. Intermetallic compounds were identified and the microstructural evolution was observed. A strong coupling effect between Cu and Ni was found, which caused several peculiar phenomena: (1) the formation of a Cu–In compound (the Cu₁₁In₉ phase) at the In/Ni interface; (2) the formation of two sub-layers of the Cu₁₁In₉ phase at the Cu/In interface; (3) the formation of faceted rod-like Cu₁₁In₉ grains; and (4) the formation of a half-Cu₁₁In₉, half-Ni₃In₇ microstructure after prolonged reactions. The mechanism of phase transformations is elucidated based on the calculated Cu–In–Ni ternary phase diagram using CALPHAD thermodynamic modeling.     

Origin of stress overshoot in amorphous solids

Based on the shear-transformation-zone (STZ) theory, we propose a constitutive model for describing homogeneous elastoplastic deformation of amorphous solids where the interaction of shear transformations and free volume dynamics is incorporated. This theoretical model can reproduce the stress overshoot behavior that shows the dependence of strain rate, temperature, STZ population and dilatancy of systems. It reveals that the stress overshoots its steady state value due to the delayed activation of shear transformations that results from the insufficient free volume in the system. However, the subsequent strain softening (stress drop) is attributed to the shear-induced dilatation that is a result of the positive interplay between shear transformations and free volume creation, the latter playing the dominant role. Our analysis also demonstrates that the STZs, as basic carriers of amorphous plasticity, govern the yielding of the system, whereas the free volume dynamics significantly affects the post-yielding behaviors.     

基于链接相似度和作弊系数的Spam网页识别算法

Spam网页主要通过链接作弊手段达到提高搜索排名而获利的目的,根据链接作弊的特征,引入链接相似度和作弊系数两个指标来判定网页作弊的可能性。借鉴BadRank算法思想,从Spam网页种子集合通过迭代计算链接相似度和作弊系数,并根据与种子集合的链接指向关系设置权重,将待判定的网页进行度量。最后选取Anti-Trust Rank等算法作对比实验,结果验证了本文算法在准确率和适应性方面优于对比算法。     

Anomalous kinetics of lath martensite formation in stainless steel

The kinetics of lath martensite formation in Fe–17·3 wt-%Cr–7·1 wt-%Ni–1·1 wt-%Al–0·08 wt-%C stainless steel was investigated with magnetometry and microscopy. Lath martensite forms during cooling, heating and isothermally. For the first time, it is shown by magnetometry during extremely slow isochronal cooling that transformation rate maxima occur, which are interrupted by virtually transformation free temperature regions. Microscopy confirms martensite formation after athermal nucleation of clusters followed by their time dependent growth. The observations are interpreted in terms of time dependent autocatalytic lath martensite formation followed by mechanical stabilisation of austenite during the transformation process.     

Allotropic transformation induced stacking faults and discontinuous coarsening in a γ-γ′ Co-base alloy

The stability of a Co-based alloy designed to possess a microstructure comprising of L1₂, γ′ Co₃Ti-type precipitates embedded in an A1, γ Co solid solution matrix has been investigated. The alloy showed acute microstructural instabilities upon ageing at 700 °C, resulting in the degeneration of the γ-γ′ aggregate into i) a faulted Co-based martensite and Co₃Ti and ii) a lamellar aggregate of A3-Co and Co₃Ti. The faulted Co-based phase was formed by isothermal diffusionless transformation of the metastable A1-phase, whilst the lamellar aggregate was a discontinuous reaction product.