Influence of high energy ball milling on structural,microstructural and optical properties of TiO2 nanoparticles

The influence of high-energy ball milling on structural, microstructural, and optical properties of TiO₂ by modifying the nanoparticle size was studied. Five samples were extracted at different milling times (0, 2, 4, 8, and 13 h). The average particle sizes estimated by dynamic light scattering (DLS) were 205, 155.8, 116.8, 82.9, and 82.7 nm at 0, 2, 4, 8, and 13 h, respectively. X-ray diffraction analysis confirmed progressive broadening of the peaks as the milling time elapsed. Besides, a correlation was found between d spacing and the average crystal size. The UV–Vis diffuse reflectance spectra of TiO₂ revealed a decrease in reflectance due to particle size reduction. Similarly, an alteration of the bandgap transition energy was presented, whose values gradually decreased from 2.966 eV to 2.861 eV for the sample without and with the maximum duration milling performed (13 h), respectively. Likewise, the SEM analysis showed a distribution in nanoparticle size that became more homogeneous and smaller average grain size as the milling duration was longer.     

A 6-DOF humanoid wall-climbing robot with flexible adsorption feet based on negative pressure suction

A wide range of dangerous and special tasks have witnessed the applications of wall-climbing robots, but they still cannot adapt well torough or sloping walls. This paper proposes a 6-DOF (degree of freedom) humanoid wall-climbing robot (HWCR) based on the principle of negative pressure suction. HWCR has the advantages of flexible adsorption feet, strong adaptability, strong anti-subversion performance, and high friction to the wall. We deduce mechanics formulas and carry out a parametric design of the foot structure so that it can meet the requirement of robot wall climbing. We use Fluent to analyze the flow field of the adsorption foot and determine the motor speed that can provide a reliable adsorption force. Using the D-H matrix to plan gait, we also design a compound cycloid-based foot trajectory to reduce the impact between the HWCR and the wall. Experiments on the uneven wall and sloping wall show that the vehicle can walk with an ideal gait, and the resistance value of the servo on each joint is much lower than the critical value, which ensures the smooth movement of the HWCR.     

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.     

Physical and electrochemical behavior of affordable Na3SbS4 solid electrolyte at different heat treatment temperatures

High-capacity and affordable all-solid-state Na-ion batteries have gathered increasing interest in recent years owing to low-cost sodium, which contributes to reducing the price of these Na-ion batteries to approximately 70% of that in lithium batteries. However, in terms of electrolyte performance and battery cost, the complete replacement of lithium batteries has a long way to go. In this work, low-cost and high-safety Na₂S·9H₂O materials are used in synthesizing Na₃SbS₄ solid electrolyte, the price of which is only one-fifth that of high-purity Na₂S. The structure and electrochemical properties are studied through X-ray diffraction analysis, Raman spectroscopy, scanning electron microscopy, and electrochemical tests. Results indicate that a multiphase Na₃SbS₄ structure containing cubic and tetragonal phases formed after heat treatment at 300 °C. In addition, a third phase transition of Na₃SbS₄ is inferred after further heating at 600 °C. This phase structure contributes to the improvement of electrochemical performance by promoting increasing ionic conductivity to 0.54 mS cm^?1 at room temperature (25 °C) and reducing activation energy to 0.076 eV. This work provides an affordable material with good electrochemical properties and not only simplifies the preparation but also greatly reduces the risk of the process.     

基于VERICUT的偏心放置分段式齿圈铣齿方法研究

为解决大直径且齿宽较宽的分段式齿圈的铣齿问题,提出采用偏心放置的主程序调用子程序循环加工的铣齿方法。根据主程序数学模型和子程序数学模型构建偏心放置铣齿方法的数学模型,基于VERICUT的仿真模型和仿真主、子程序,实现齿槽的开粗和精铣仿真加工;通过VERICUT对比分析功能模块,以齿面残留模型为依据,验证了偏心放置铣齿方法的可行性。     

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。     

新型树启发式搜索算法的机器人路径规划

面对三维空间移动机器人从起始点到终止点的最短路径问题,提出一种新型的边缘点树启发式搜索(TreeEP)算法,该方法将地图空间进行密度可调的三维离散化处理,根据障碍安全距离筛选出障碍物的可靠边缘点信息,再利用树扩散架构选出最能引导搜索方向的潜力点进行扩散搜索,最终得出最短路径。提出局部调整策略,得到改进的Tree-EP算法。实验结果表明,在带障碍复杂地形最短路径搜索应用中,提出的Tree-EP算法与已有方法相比,能找到更短的移动路径。     

Development of the method of production of the ultrafine macrohomogeneous composite powder

ABSTRACT

A method of ultrafine macro-homogeneous composite powder – B₄C–ZrO₂ production using a planetary mill was developed. From the macro-homogeneous composite high-density ceramics, B₄C–ZrB₂ was produced by the method of reactive sintering (in situ) at 2000°C under the pressure of 41–42?MPa. The effect of ZrO₂ grain size and of its distribution in the matrix on the consolidation parameters, and the microstructure of the obtained ceramics was studied.     

Preparation of YSZ porous ceramics with precise porosity control

Conventional preparation of porous ceramics often hard to accurately control the porosity of the samples. In this paper, by improving the foaming method, the foaming process is placed in the limited space of the ball mill tank, and YSZ porous ceramics with different porosity are obtained by changing the amount of slurry. Initial results showed that the porosity of the sample varies linearly with the increasing of addition of slurry. From the microscopic morphology, it can be seen that the increase in slurry content will reduce the number of pore with little changed size, which lead to the decrease in porosity. Therefore, with simple calculation YSZ porous ceramics with 85%, 80%, 75%, 70%, and 65% porosity can be obtained using the method of foaming in limited space by ball milling.     

基于机器视觉的机车齿轮毂全自动双轴拧紧机的设计和应用

设计了基于机器视觉的机车齿轮毂全自动双轴拧紧机,根据拧紧工艺和扭矩控制原理实现对螺栓拧紧力矩的控制;通过丝杠变径机构,实现不同规格齿轮毂螺栓拧紧;利用机器视觉实现螺栓位置的识别以及初始位置的确定;讨论了自动拧紧机控制系统的硬件组成和软件系统配置,并介绍了防错、防漏功能的设计流程。螺栓自动拧紧机可提高装配精度和操作效率,降低工人的劳动强度。