基于旋翼负压混合吸附的爬壁清洗机器人系统动力学性能研究

针对爬壁清洗机器人越障时,负压装置的吸附力下降导致吸附不稳定的问题,设计了一种旋翼负压混合吸附工作的多边形履带清洗机器人,并对爬行稳定性及越障性能进行了动力学分析。首先根据机器人爬壁的运动原理,建立机器人沿玻璃幕墙上的动力学模型,计算出电机理论驱动力矩;其次分析机器人在跨越障碍过程中的运动模型,结合与壁面接触的实际受力状态,对越障过程中关键阶段的本体倾翻、滑移两种失效形式进行运动学和动力学分析;然后根据玻璃幕墙实际的障碍高度,确定多边形履带的参数和理论驱动力矩的大小,并研制了实验样机进行爬行和越障试验,结果表明所设计的机器人具有良好的越障性能。     

Process-induced variability modeling of subthreshold leakage power considering device stacking

The dominance of leakage currents in circuit design has been impelled by steady downscaling of MOSFET into nanometer regime, and has become a significant component of total IC power dissipation. The issue is further aggravated with the inability to gauge the tolerance of process parameters around their nominal value. Consequently, the drive to improve the static power prediction has enticed accurate and reliable modeling of leakage current, specifically for ultralow power applications. In contrast to gate- and band-to-band-tunneling leakages, subthreshold leakage exhibits high susceptibility to process variations and hence has been considered for variability modeling. Fluctuations in the device electrical and geometry parameters result in a wider distribution of subthreshold leakage current. Hence, taking into account stacking effect, an analytical variability model to estimate subthreshold leakage power in subthreshold circuits, in the presence of threshold voltage variations is proposed. Further, the impact of threshold voltage variability on subthreshold leakage power is modeled in conjunction with simultaneous variations in gate length and width. The leakage power variability is characterized by model-generated distributions obtained using Monte Carlo analysis and validated against SPICE simulations. The proposed model is about 700 computationally faster than SPICE simulations with mean error being less than 0.19%.     

Novel hybrid serpentine-interdigitated flow field with multi-inlets and outlets of gas flow channels for PEFC applications

In our previous study, a novel flow field design for a polymer electrolyte fuel cell (PEFC) called “Hybrid Serpentine-Interdigitated (HSI)” had been proposed. Although it was very promising in terms of performance and pressure drop, it still had a major drawback of the low oxygen concentration area. To improve its design and performance, three HSI configurations with different numbers of gas inlet and outlet, namely one inlet and one outlet HSI (1-IO HSI), one inlet and two outlets HSI (1I-2O HSI) and two inlets and two outlets HSI (2-IO HSI) were numerically investigated and compared with the conventional single channel serpentine (1S). The investigation on the cell performance and other transport behaviors has been carried out using CFD techniques via ANSYS FLUENT software. At a practical operating potential of about 0.6 V of 50 cm² PEFCs, the 2-IO HSI offered the best distributions of oxygen, current density and water due to the shorter channel length. More importantly, the 2-IO HSI could contribute to a reduction in cathode pressure drop by 90%, as compared with the 1S, resulting in the enhancement in the net power output by 6%, approximately.     

Droplet behaviors on inclined surfaces with dynamic contact angle

Dynamic contact angle (DCA) is of crucial importance in the numerical investigation of water management problems in proton exchange membrane fuel cells (PEMFCs). In order to well predict the gas-liquid two-phase flow in the complex flow field in PEMFCs, first, it is very critical to build a robust DCA model that is capable of simulating droplet behaviors on a single surface under various conditions. In our previous research work, an advancing-receding DCA (AR-DCA) model is developed and has been successfully validated against a series of experiments from the available literature for droplet impact on surfaces. In this study, the AR-DCA model is further applied to simulate droplet behaviors on inclined surfaces with different droplet impact velocities, impact angles and viscosities. It is found that the droplet spreading and deformation from the simulations have excellent agreement with those captured in the corresponding experiments. The results also indicate that higher impact velocity and impact angle can facilitate the spreading trend at the droplet trailing edge and have no notable effects on the leading edge. In addition, the increase of droplet viscosity leads to a transition from droplet deposition phenomenon to partial rebound on the surface.     

Predicting the damage development in epoxy resins using an anisotropic damage model

For fiber-reinforced plastics, the strain-rate dependent response is governed by the matrix behavior. In this work, the Goldberg model is considered for the epoxy matrix constitutive material model. Moreover, the strain-rate dependency is achieved by direct influence on the elastic modulus, the inelastic strain, and the material strain to failure. In addition, an anisotropic damage response is implemented and extended through a strain-rate dependent definition. Since the constitutive model relies on nonphysical parameters, a parameter study is further performed. Additional numerical investigations using a micro-mechanical model are performed. Tension and shear loading conditions are evaluated and the influence of different strain rates is explored. Furthermore, the implemented anisotropic damage model is compared and discussed against an isotropic damage model.     

随车起重机伸缩臂截面多目标优化

为了提高某火箭炮弹药装填车随车起重机伸缩臂的结构刚度,减轻结构质量,建立了随车起重机伸缩臂参数化模型,并对伸缩臂在水平受载状态下进行仿真分析。以伸缩臂截面尺寸参数为设计变量,借助最优拉丁超立方试验设计建立样本空间,构造响应面多项式函数近似模型。在此基础上,利用NSGA-Ⅱ型遗传算法对伸缩臂自身重量、挠度进行多目标优化。优化结果表明:伸缩臂质量减轻了24.5%,减重效果明显。文中所采用的将参数化建模、有限元分析和数值寻优相结合的优化方法,可为起重机伸缩臂截面优化提供一定的参考。     

锂离子在三维骨架复合锂金属负极中的沉积规律

锂金属具有极高的理论比容量和极低的氧化还原电极电势，成为了新一代高比能二次电池最理想的负极材料。然而，锂金属负极其走向大规模应用仍存在诸多问题与挑战。三维骨架复合负极可以控制金属锂均匀形核，低电流密度下均匀沉积，有望推动锂金属负极的实用化。为了更高效地指导锂金属负极设计和优化，采用相场理论，对三维骨架锂金属负极中比表面积对金属锂沉积过程的作用机制进行了定量分析和探究，发现了比表面积调控金属锂沉积的两阶段作用机理，并提出了基于比表面积参数的三维骨架负极设计与优化方向，从而最大程度发挥三维骨架在调控稳定金属锂负极上的积极作用。     

深埋矿体移动带三维圈定方法及应用

针对深埋矿山开采移动带二维圈定方法工作量大、精度低且难以满足日益增长的经济效益需求的问题，提出了一种深埋复杂矿体移动范围三维确定方法。结合沙岭金矿千米深井工程实例，在移动范围确定过程中，借助先进的3D建模技术获得三维矿山模型。该模型可以实现各类地质体的可视化，直观地展示其形态与产状，清晰地反映各构成因素间的相互关系。在3D模型中截取的特征剖面与经典移动带圈定岩移参数获取方法相结合，能轻松获得各特征剖面上的岩移参数值。通过给定的岩移参数值进而确定各特征剖面上的地表移动边界点，将各移动边界点连接即可实现矿山移动范围的圈定。研究结果表明，基于三维地质建模技术的移动带圈定方法合理可行，确定的纱岭金矿地表移动带能够兼顾安全生产与经济效益，为矿山生产开发奠定了有益基础，为类似矿山提供了有益借鉴。     

Smart work packaging-enabled constraint-free path re-planning for tower crane in prefabricated products assembly process

Lack of constraint-free crane path planning is one of the critical concerns in the dynamic on-site assembly process of prefabrication housing production (PHP). For decades, researchers and practitioners have endeavored to improve both the efficiency and safety of crane path planning from either static environment or re-planning the path when colliding with constraints or periodically updating the path in the dynamic environment. However, there is a lack of approach related to the in-depth exploration of the nature of dynamic constraints so as to assist the crane operators in making adaptive path re-planning decisions by categorizing and prioritizing constraints. To address this issue, this study develops the smart work packaging (SWP)-enabled constraints optimization service. This service embraces the core characteristics of SWP, including adaptivity, sociability, and autonomy to achieve autonomous initial path planning, networked constraints classification, and adaptive decisions on path re-planning. This service is simulated and verified in the BIM environment, and it is found that SWP-enabled constraints optimization service can generate the constraint-free path when it is necessary.     

The roles of conceptual modelling in improving construction simulation studies: A comprehensive review

The conceptual modelling phase of simulation studies has proven to be effective in enhancing the impact of simulation modelling in different domains. However, this simulation phase did not receive much attention in the construction simulation domain. The objective of this paper is to identify the roles that conceptual modelling can play in advancing the engagement, accuracy, and adoption (among other things) of discrete-event simulation studies in construction. In this paper, a Systematic Literature Review (SLR) is conducted, which involves a comprehensive search of databases and researchers’ profiles to identify journal papers, conference articles, books, and theses that have reported the benefits of conceptual modelling for discrete-event simulation studies. The review resulted in 82 documents that were published from 2000 to 2020. Results indicate that the benefits of conceptual modelling include facilitating communications between stakeholders, capturing sufficient information for the simulation model, improving the quality of simulation models, guiding other simulation modelling activities, and facilitating verification and validation of simulation models. By linking these benefits to the current research agenda in construction simulation, this paper shows the significance and potential of the conceptual modelling phase to enhance the impact of discrete-event simulation studies in construction.