Effect of suspension characteristics on the performance of thermal barrier coatings deposited by suspension plasma spray

This paper investigates the influence of suspension characteristics on microstructure and performance of suspensions plasma sprayed (SPS) thermal barrier coatings (TBCs). Five suspensions were produced using various suspension characteristics, namely, type of solvent and solid load content, and the resultant suspensions were utilized to deposit five different TBCs under identical processing conditions. The produced TBCs were evaluated for their performance i.e. thermal conductivity, thermal cyclic fatigue (TCF) and thermal shock (TS) lifetime. This experimental study revealed that the differences in the microstructure of SPS TBCs produced using varied suspensions resulted in a wide-ranging overall TBC performance. All TBCs exhibited thermal conductivity lower than 1 W/(m. K) except water-ethanol mixed suspension produced TBC. The TS lifetime was also affected to a large extent where 10 wt % solid loaded ethanol and 25 wt % solid loaded water suspensions produced TBCs exhibited the highest and the lowest lifetime, respectively. On the contrary, TCF lifetime was not as significantly affected as thermal conductivity and TS lifetime, and all ethanol suspensions showed marginally better TCF lifetime than water and ethanol-water mixed suspensions deposited TBCs.     

基于光刀图像的机器人示教纠偏方法

为了解决机器人辅助在线检测系统示教过程中效率低、人为干预多的问题,针对孔类特征,提出一种通过处理光刀图像获取机器人位姿纠正参数的方法。在该方法中,纠偏过程按照将图像光刀线调整为水平方向、将被测特征调整至图像中央、根据不同特征调整最优扫描方向3个步骤进行。根据光刀图像可以求出测量坐标系与被测特征的位姿关系,并得到该位姿与理想测量位姿的偏差。经过坐标变换即可得到在机器人基坐标系下的调整参数。另外,可利用电脑控制机器人运动,从而实现了纠偏过程的自动化。实验结果表明,该方法可将初始的示教位姿修正为理想位姿,且比传统方式效率更高。     

基于ADAMS和MATLAB的双足机器人运动轨迹规划和控制的联合仿真

相比ADAMS仿真的不稳定性,利用ADAMS和MATLAB联合仿真对双足机器人运动轨迹规划和控制设计的可靠性及高效性进行了研究。首先绘制双足机器人三维参数模型进行逆运动学分析,验证其合理性后导入ADAMS中添加约束,进行动力学仿真。基于此,在MATLAB中使用多项式插值法完成模型的步态规划。最后利用Simulink试验台建立控制系统的框图,由ADAMS输入关节角之后控制台输出关节的驱动力矩,完成双足机器人ADAMS和MATLAB的联合仿真。仿真结果显示,联合仿真相较于ADAMS仿真的波动性所获得的数据更加稳定,此法高效可行,可作为下一步设计双足机器人的控制系统电机选型的重要理论依据。     

Understanding on the hydrogen detection of plasma sprayed tin oxide/tungsten oxide (SnO2/WO3) sensor

The plasma spray technique was well proven in producing metal oxide based gas sensors in the last two decades using different powder feedstocks. However, limited research was made to fabricate hydrogen gas sensor from tin oxide layer coated over tungsten oxide layer. This paper attempts to interpret the hydrogen gas sensing performances of plasma sprayed coating derived by depositing tin oxide layer over tungsten oxide (SnO₂/WO₃) layer. Plasma sprayed SnO₂/WO₃ sensor showed maximum response of 90% at 150 °C in contrast to stand-alone WO₃ (89% at 350 °C) and stand-alone SnO₂ (89% at 250 °C). The lower operating temperature of SnO₂/WO₃ sensor without compromising gas response was attributed to the WO₃–SnO₂ hetero-junction. SnO₂/WO₃ sensor showed selective sensing towards hydrogen with respect to carbon monoxide and methane gases. This sensor also possessed repeatable characteristics after 39 days from the initial measurement. In a nut-shell, plasma spayed SnO₂/WO₃ sensor showed stability of base resistance, repeatability after successive response and recovery cycles, selective sensing towards 500 ppm H₂ with significant magnitude of gas response of 90%, response time of 35 s and recovery time of 269 s at a temperature of 150 °C.     

Shared human–robot path following control of an unmanned ground vehicle

This paper considers the shared path following control of an unmanned ground vehicle by a single person. A passive measure of human intent is used to blend the human and machine inputs in a mixed initiative approach. The blending law is combined with saturated super-twisting sliding mode speed and heading controllers, so that exogenous disturbances can be counteracted via equivalent control. It is proven that when the proposed blending law is used, the combined control signals from both the human and automatic controller respect the actuator magnitude constraints of the machine. To demonstrate the approach, shared control experiments are performed using an unmanned ground vehicle, which follows a lawn mower pattern shaped path.     

Experimental research on combined effect of obstacle and local spraying water fog on hydrogen/air premixed explosion

In order to reveal the mechanism of water fog explosion suppression and research the combined effect of water fog and obstacle on hydrogen/air deflagration, multiple sets of experiments were set up. The results show that the instability of thermal diffusion under lean combustion conditions is the main influencing factor of hydrogen/air flame surface instability, and the existence of water fog will aggravate the hydrogen/air flame surface instability. When obstacle is not considered, 8 μm, 15 μm, 30 μm water fog can significantly reduce the flame velocity and explosion overpressure of hydrogen/air, 45 μm fine water fog plays the opposite role. When considering the relative position of the water fog release position and the obstacle, the 8 μm, 15 μm, 30 μm water fog has almost no suppression effect when released near the obstacle, but a significant suppression effect occur, when using the 45 μm water fog. In the field of theoretical research, the research results not only provide an experimental basis for the fine water fog to reduce the consequences of hydrogen explosion accidents, and the optimal diameter range used by the water fog, but also provide experimental reference for the numerical simulation of hydrogen/air explosion suppression in semi-open space, and promote the development of hydrogen explosion suppression theory. In terms of engineering applications, this study can provide a theoretical basis for the layout of fire fighting equipment in the engine room of nuclear power plants or hydrogen-powered ships.     

Piecewise constant strain kinematic model of externally loaded concentric tube robots

This paper presents a piecewise constant strain kinematic model for concentric tube robots (CTR) in externally loaded conditions. It discretizes the pre-curved tubes comprising the robot into a finite number of pieces and involves external effects as a set of wrench vectors exerted along the robot backbone. Constant strain lets us describe the pieces with helices in which shear deformation and elongation are neglected. The resulting piecewise helix is the simplest curve that can catch the torsion of tubes that play a crucial role in kinematic behavior. This approximation transforms the conventional boundary value problem (BVP) of CTRs models into a set of nonlinear equations that drastically decreases the model resolution time. The present method uses a Lyapunov function and torsional Jacobian to ensure the distal torsion constraint consistently and, as a result, the solution’s convergence. The paper’s primary purpose is to present a fast, numerically stable, and relatively accurate kinematic model not reliant on measurement data. Experimental results on a two-tube prototype and provided for different tip loading conditions reveal maintaining a balance between adequate accuracy and reasonable running time, about 7 ms for five pieces per section, for real-time applications in the presence of external load.     

Life time prediction of self-supporting flame-sprayed alumina-rich coatings

Main objective of the presented research is the life time prediction of self-supporting flame-sprayed Al₂O₃- and Al₂O₃ -ZrO₂ -TiO₂-materials under constant load. The characteristic life time and its scatter were derived from stable crack growth tests and Weibull-statistics including the four-point-bending and ball-on-three-balls method. The potential life time was estimated in order to assess room-temperature handling and long term storage of self-supporting flame-sprayed alumina components. In terms of flexural strength, energy release, and subcritical crack growth parameters, distinct differences between both materials were shown. In turn, the characteristic life times only barely deviated from each other. From that the conclusion was drawn that life time performance under constant load application is governed by the characteristic flame-spray microstructure. However, advantages in the flame-spray processing of Al₂O₃ - ZrO₂ -TiO₂ are still given, attributed to its lower melting temperature.     

面向草莓抓取的气动四叶片软体抓手研制

农林业中果蔬的自动化采摘需求日趋强烈,末端抓手是实现无损采摘的关键。传统的末端抓手以刚性结构居多,现有的各种柔性抓手也存在抓取力不足、包覆性不佳等缺点。本文以草莓的无损采摘为研究对象,提出将草莓外部轮廓曲线作为设计曲线,设计了一种新型气动四叶片软体抓手。首先,对软体抓手的结构做仿真优化,提出一种安全地附着在目标物表面的设想。然后,在进行草莓表面的最小破坏应力试验的基础上,测试了软体抓手的末端力,验证了其实现无损抓取的可行性。再次,利用动态捕捉技术,研究了软体抓手叶面的弯曲变形规律。最后,选择使用弧线型气体通道的软体抓手进行了草莓抓取测试,结果证明了气动四叶片软体抓手可以实现草莓的无损抓取,抓取成功率达90%,破损率为2%,表明所研制的四叶片软体抓手用于草莓抓取时具有良好的稳定性和实用性,可用于草莓采摘的末端执行器。本研究也可为其他易损果蔬的采摘技术提供理论基础和技术支撑。     

Wear-resistant ceramic coatings deposited by liquid thermal spraying

As a surface strengthening and surface modification technology of materials, liquid thermal spray technology has been used in many fields, such as wear and friction reduction, corrosion resistance, and high-temperature oxidation resistance. This article reviews the progress of liquid thermal sprayed coating in wear resistance as well as friction reduction in recent years. The influences of microstructure, composition, phase structure and mechanical properties on the tribological properties of typical coatings (including ceramic coatings and multiphase composite coatings) are investigated. The tribological properties of the coating are determined by the coating characteristics (including microstructure, porosity, mechanical properties, etc.) and the service conditions (working temperature, lubrication state, etc.). Typical ceramic wear-resistant coatings include Al₂O₃, YSZ, HA coatings, etc. The tribological properties of the coating can be significantly improved through process optimization and heat treatment. The comparison of nanostructured and microstructured ceramic-based coating reveals that nanostructured coating reduces wear by absorbing stress. The interaction between different constituent phases improves wear resistance and reduces wear in composite coatings. Finally, various challenges faced by liquid thermal spray are pointed out, and future research focuses are proposed.