面向踝部康复的广义球面并联机构型综合

针对现有踝关节康复机器人难以充分拟合踝关节复杂运动，人机相容性较差的问题，提出一系列与踝关节实际骨结构匹配程度更高的串联等效拟合模型。为满足踝关节串联等效拟合模型对康复机器人机构本体的功能需求，给出一种具有串联等效拟合模型的广义球面并联机构型综合方法。首先枚举出广义球面机构的基本构件及运动副，并依此构造出广义球面支链。继而基于螺旋理论分析单支链以及多支链组合对动平台的约束性能，给出支链的组合条件与原则，阐明不同支链在机构中作用的异同，并依此归纳出位置支链和姿态支链两类广义球面基本支链。最后基于基本支链的约束特性，根据支链组合条件，综合出一系列适用于踝关节康复机器人本体研究的广义球面并联机构，并通过螺旋理论证明其与踝关节串联等效拟合模型的自由度数及性质具有一致性，为此类康复机器人本体设计提供理论依据。     

变厚度板中水平剪切波的传播特性分析

为研究超声导波在储罐壁板等变壁厚结构中的传播特性，建立了SH波在空间自由边界中的传播模型，基于各向同性弹性介质Navier-Stokes方程，推导了变厚度板中SH波的频散方程，分析了变厚度板中水平剪切波走时t与倾斜角θ间的相互作用关系；通过简谐点源的远场响应并引入板厚与传播位移的非线性关系，得出了变厚度板中SH波的远场响应方程。在此基础上，仿真分析和实验验证了水平剪切波在不同倾斜角变厚度板中的传播特性，结果表明：在变厚度板的薄端激励水平剪切波并沿结构表面传播时，无频散现象，且无波包分离现象；但随着变厚度板倾斜角θ增大，水平剪切波的走时和接收信号幅值均逐渐递减，且呈非线性关系。     

Evaluation of the intergranular corrosion in austenitic stainless steel using collinear wave mixing method

Failures due to intergranular corrosion in components of austenitic stainless steel have always been a tough problem in engineering practice. In this paper, the collinear wave mixing was investigated to evaluate the intergranular corrosion in austenitic stainless steel. An acoustic nonlinearity parameter related to the bispectrum, the propagation distance and the amplitudes of fundamental waves in measured signal is proposed. Nonlinear acoustic measurements were conducted on four tubes with different degree of intergranular corrosion. The experimental results demonstrated that the proposed acoustic nonlinearity parameter is sensitive to intergranular corrosion in samples, and is well correlated with the degree of damage.     

Creating the brain and interacting with the brain: an integrated approach to understanding the brain

In the past two decades, brain science and robotics have made gigantic advances in their own fields, and their interactions have generated several interdisciplinary research fields. First, in the ‘understanding the brain by creating the brain’ approach, computational neuroscience models have been applied to many robotics problems. Second, such brain-motivated fields as cognitive robotics and developmental robotics have emerged as interdisciplinary areas among robotics, neuroscience and cognitive science with special emphasis on humanoid robots. Third, in brain–machine interface research, a brain and a robot are mutually connected within a closed loop. In this paper, we review the theoretical backgrounds of these three interdisciplinary fields and their recent progress. Then, we introduce recent efforts to reintegrate these research fields into a coherent perspective and propose a new direction that integrates brain science and robotics where the decoding of information from the brain, robot control based on the decoded information and multimodal feedback to the brain from the robot are carried out in real time and in a closed loop.     

金川集团化工厂铜冶炼烟气制酸中温位余热回收

阐述金川集团化工厂530 kt/a铜冶炼烟气制酸系统扩能改造和余热回收前存在的问题,在遵循尽可能保留现有工艺管线和保证余热高效回收的原则上对转化工艺进行改造完善,将转化流程由原设计的“3+1/Ⅳ.Ⅰ-Ⅲ.Ⅱ”四段转化改为“3+2/Ⅴ.Ⅰ-Ⅲ.Ⅱ.Ⅳ”五段转化工艺流程,研发适合冶炼烟气制酸系统的分离型热管余热回收工艺技术.生产实践证明,该工艺在确保转化热平衡的基础上提升转化率,优化系统工艺技术指标,实现回收转化中温位富余热量生产饱和蒸汽,保证制酸系统与铜冶炼系统的匹配化生产,节能减排效益可观.     

主井井塔双梁吊钩桥式起重机安装

曲江矿井主井井塔+54m平台上,需安装1台Gm=32/5T型电动双梁吊钩桥式起重机。由于吊装高度较高,空间狭小,井塔封屋顶面期间,在屋顶面预留400mm×400mm小孔,作为+46m平台的提升吊装孔;在屋顶面中间预留600mm×600mm小孔,作为+54m平台吊装孔。吊装时,先吊装左梁,再吊装右梁,小车正好落在组装好的左、右梁轨道上;然后将起重机推到机房中间位置,进行调试,完成安装。     

低速电机驱动翻板机构的设计与校核

介绍一种低速电机驱动连杆机构来实现接水翻板的运行,连杆机构设计为反平行四边形机构,由一台低速电机作为动力源、连杆作为执行机构、推动翻板打开与合拢,实现翻板接水工作,从而保证压滤机各工艺的正常。此方案结构简单,成本低廉,运行稳定可靠。     

Ultra-smooth BaTiO3 surface morphology using chemical mechanical polishing technique for high-k metal-insulator-metal capacitors

The surface roughness of barium titanate (BTO) following its implication by aerosol deposition method (ADM), is a very important characteristic affecting its potential for use in high-k metal-insulator-metal capacitors. The ADM is the best candidate to deposit ceramic films but has two major problems: macroscopic defects and rough interface effects on the BTO surface. In this work, a chemical mechanical polishing (CMP) technique is applied to obtain an ultra-smooth BTO surface morphology by the optimization of several factors including the slurry type, the head rotational speed, and the down pressure. Statistically, we were able to achieve a root mean square (RMS) value of the BTO surface of 1.746 nm by utilizing a two-step polishing process, applied at a head rotational speed of 70 rpm under 5 kg/cm² of down pressure; this RMS value is improved at least 8 times over previous studies. This analysis is based on representative pattern images, three-dimensional images, line profiles, histograms, and power spectra of selected BTO surface areas, further verified with data from both energy-dispersive X-ray spectroscopy and X-ray photoelectron spectroscopy.     

受限空间内天然气爆炸反应过程模拟分析

为定量研究受限空间内天然气爆炸反应动力学特征，开展了3个方面的研究工作，①建立了基于激波管的天然气爆炸过程数值分析模型；②将天然气气相燃烧动力学反应分解为53种反应组分、325种基元反应，给出了朗金―雨贡尼关系式和正激波的压强比、密度比和温度比计算方法；③利用化学反应模拟软件CHEMKIN构建天然气燃烧过程机理文件，对激波诱导受限空间内天然气混气爆炸过程进行数值模拟，讨论了反应过程、初始压力和空间尺寸对天然气爆炸过程的影响，并绘制了天然气爆炸温度、压力变化特征曲线。结果表明：采用入射激波模拟混气引爆过程中体系温度会出现跳跃式上升随之向下扰动；混气被引爆后温度逐步提高，在温度达到峰值时压力随之提高；提高初始压力将缩短混气引爆时间，高的初始压力可以得到更为迅速的反应速度和更高的爆炸压力；空间尺寸对散热作用的影响高于其对活性基团消毁作用的影响，小尺寸空间条件下可以获得更迅速的爆炸升压速度。     

Parallelized neural network system for solving Euclidean traveling salesman problem

We investigate a parallelized divide-and-conquer approach based on a self-organizing map (SOM) in order to solve the Euclidean traveling salesman problem (TSP). Our approach consists of dividing cities into municipalities, evolving the most appropriate solution from each municipality so as to find the best overall solution and, finally, joining neighborhood municipalities by using a blend operator to identify the final solution. We evaluate performance of parallelized approach over standard TSP test problems (TSPLIB) to show that our approach gives a better answer in terms of quality and time rather than the sequential evolutionary SOM.