Motion control of underactuated linkage robot based on gymnastic skill

In this paper, a reproduction of a swing‐up and a giant swing motion of underactuated robots based on technique of the horizontal bar gymnast is discussed with focusing on an equivalent center of mass (ECM) of underactuated robots and the gymnast. At first, the behaviors of the ECM of the gymnast (ECMG) are analyzed by using a motion capturing technique and an efficient motion of the ECMG for the swing‐up and for the giant swing motion are identified from analysis results, respectively. Next, a partial linearization method, which can realize that the ECM of the Acrobot (ECMA) replicates this efficient motion, is designed and reproduces the underactuated robots the swing‐up and giant swing motion like the gymnast. Finally, an effectiveness of the proposed controller is shown by numerical simulations.     

Study of equivalent efficiency calibration method for radioactive gas source measured on HPGe detectors

ABSTRACT

In view of the complexity of current detection efficiency calibration of radioactive gas sources, a method using solid planar sources to be equivalent to gas sources was studied. For the 50 mL gas source box, an optimal equivalent scheme was selected by Monte Carlo Simulations. Then, the full-energy-peak efficiency curve of gas sources at the measurement position of 25 cm, with source-to-detector distance of 25 cm, was fitted by measuring solid planar sources with known activity. To verify the accuracy of the efficiency curve, ⁴¹Ar, ¹³³Xe and ⁸⁷Kr gases were produced and determined by length-compensated method. Then, their full-energy-peak efficiencies at 25 cm position away from the detector were directly calibrated. The percentage efficiency deviations between interpolation from the efficiency curve and direct calibration are all less than 2.5%, which proves the accuracy of the equivalent method. This calibration method is a general one and can be also used for some other radioactive sample measurements, such as non-destructive analysis of gaseous fission product samples with a suitable source-to-detector distance.     

深部巷道裂隙围岩危险体判定及应力监测预警

工程岩体是由节理、裂隙等结构组成的不连续介质体,深部巷道处于高地压、强扰动的复杂工程环境中,裂隙岩体的稳定性是深部工程安全稳定性研究的重要课题。本文以矿井深部巷道为研究对象,构建离散裂隙网络模型,获得等效岩体参数,并以此建立裂隙岩体工程模型;分析工程巷道裂隙围岩的应力、变形和破坏特征。模拟试验结果表明:斜联巷、釆联巷、水仓与主运输巷交叉等位置是应力集中区,易产生张拉、剪切破坏;根据数值模拟获得的应力集中危险区域分布特点,布设围岩应力监测网络,成功预警位于斜联巷和水仓连接巷的顶板塌落事故,为矿山设备、人员安全提供了可靠的保障。     

THEORETICAL INVESTIGATION ON BY-ONLY-CURRENT ELECTROMAGNETIC SEPARATION OF INCLUSION FROM MOLTEN METALS

The electromagnetic field under applied AC and DC current in round and rectangular pipe was systematically investigated, then a concept of "equivalent current density" was proposed for evaluating the inhomogeneous electromagnetic pinch force, and the mono-component removal efficiency and the overall removal efficiency of inclusion were formulated. It is founded that flat pipe is superior to round pipe for the electromagnetic removal of inclusion, and DC current can get a higher removal efficiency than A C current due to absence of skin phenomenon. Under usual condition, a removal efficiency of 52% for 10μm inclusion or more than 92% for 20μm inclusion can be achieved by imposing a current density of 3×106A/m2 in a flat pipe.     

hTERT-Driven Immortalization of RDEB Fibroblast and Keratinocyte Cell Lines Followed by Cre-Mediated Transgene Elimination

The recessive form of dystrophic epidermolysis bullosa (RDEB) is a crippling disease caused by impairments in the junctions of the dermis and the basement membrane of the epidermis. Using ectopic expression of hTERT/hTERT + BMI-1 in primary cells, we developed expansible cultures of RDEB fibroblasts and keratinocytes. We showed that they display the properties of their founders, including morphology, contraction ability and expression of the respective specific markers including reduced secretion of type VII collagen (C7). The immortalized keratinocytes retained normal stratification in 3D skin equivalents. The comparison of secreted protein patterns from immortalized RDEB and healthy keratinocytes revealed the differences in the contents of the extracellular matrix that were earlier observed specifically for RDEB. We demonstrated the possibility to reverse the genotype of immortalized cells to the state closer to the progenitors by the Cre-dependent hTERT switch off. Increased β-galactosidase activity and reduced proliferation of fibroblasts were shown after splitting out of transgenes. We anticipate our cell lines to be tractable models for studying RDEB from the level of single-cell changes to the evaluation of 3D skin equivalents. Our approach permits the creation of standardized and expandable models of RDEB that can be compared with the models based on primary cell cultures.     

基于矢量拟合法的永磁同步电机EMI模型

电动汽车中永磁同步电机常采用星型联结,因此建立星型联结的永磁同步电机高频阻抗模型是有必要的。首先,采用常见的电机EMI模型（π型）作为星型联结的永磁同步电机EMI模型,使用矢量拟合法推导电机EMI模型等效电路的阶数。在20 Hz~30 MHz范围内,永磁同步电机π型EMI模型的等效电路需要225个储能元件,为了降低电机EMI模型等效电路的复杂性,进一步分析了Γ型阻抗模型和反Γ型阻抗模型,将星型联结的永磁同步电机EMI模型的等效电路储能元件数降到56个。通过对比3种阻抗模型的端口阻抗特性,验证EMI模型优化方法的可行性。将电机EMI模型的等效电路代入电机驱动EMI仿真系统中进行时域仿真,仿真时域波形经EMI接收机模型处理得到噪声频谱。在150 kHz~30 MHz频率范围内,电动机驱动系统EMI接收机测试结果与仿真结果基本一致。     

广域高效车用轴向磁通永磁同步电机的设计分析

针对车用驱动电机转矩和转速多变,运行范围宽广,需要提升电机在全域运行范围的高效率能量转换的问题,提出以高效率区间占比为设计目标的车用轴向磁通永磁电机设计方法。提出了考虑PWM供电影响的电机铁耗工程计算方法。基于等效磁网络法和集总参数热网络法构建了轴向磁通永磁同步电机的快速磁-热耦合设计模型,提高了车用轴向磁通永磁同步电机的设计精度。基于磁热耦合模型,分析了极弧系数、每槽导体数、气隙长度、永磁体尺寸、定子槽型尺寸等关键设计参数对车用轴向磁通永磁同步电机高效率区间占比的影响。设计并制造了样机一台,开展了电机效率和温升测试实验,获取了全域运行范围内的电机效率及电压分布,测试结果验证了磁热耦合模型和设计结果的有效性。     

多孔纤维型重整微反应器的等效电阻网络建模

针对应用于重整制氢微反应器的复杂多孔金属纤维载体（PFS）的流速场高效分析难题,建立载体中随机微通道的等效电阻网络分析模型. 基于复杂随机纤维结构的统计网络模型,将纤维载体中三维联通的随机微通道结构及与之相连的进出口腔简化为规则的网络通道结构.借鉴基尔霍夫定律,建立纤维载体的等效电阻网络模型,并确定求解方法. 纤维载体流速场实例分析的结果表明,基于等效电阻网络模型求解的纤维载体流速场与计算流体力学(CFD)方法的结果之间的皮尔森相关系数约为98%,且求解效率约为CFD方法的2.9×10⁴倍. 研究成果为多孔纤维型重整制氢微反应器的设计制造提供了新的支撑方案.     

基于国外现货市场与四川实际的现货市场建设分析

现货市场是电力市场建设的关键环节,同时对推进国家电力体制改革、打破电力行业垄断、实现电力资源市场化的合理配置具有重大意义。本文基于分析国外电力现货市场建设经验,结合四川水电清洁能源大省、电网结构复杂的特点,从市场模式、市场主体、交易品种、电价机制、结算机制以及弃水量大、阻塞断面较多、弃水期与非弃水期市场差异化较大等问题出发,对四川电力现货市场建设进行了思考与分析,为建设具有四川特色的电力现货市场方案提供建议。     

Sn-Ag-Cu-Ce无铅钎料合金体系的热力学计算及预测

利用周模型对Sn—Ag—Cu—Ce无铅钎料合金体系进行了热力学计算预测。热力学计算结果表明，Ag、Cu含量(质量分数)分别为0．5％-4．5％时，当Ce的含量(质量分数)超过0．05％时，体系达到化学平衡状态；当Ce的含量(质量分数)达到0．6％左右时，Sn、Ag、Cu分别都出现了“等活度系数”现象。这一研究结果可为无铅钎料合金的成分设计提供理论指导。