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.     

建筑物掏土纠倾法单孔与多孔塑性区特性研究及工程应用

在建筑物水平掏土纠倾工程中，掏土孔间距是影响纠倾工程安全与工期的重要因素。为了快速准确地确定纠倾工程中的水平掏土孔间距，研究了单个掏土孔和多个掏土孔情况下孔周边土体塑性区发展特性。利用土体塑性力学分析计算得到了单孔下的孔周土塑性区半径，而后通过有限元模拟得到孔周土体塑性区半径的数值解，将孔周塑性区半径解析解与数值解进行了对比。并通过有限元数值模型研究了多个掏土孔相互影响情况下的塑性区发展规律，以孔间土体塑性区贯通时的距离作为掏土孔间距。考虑土体参数随机特性的影响，研究不同上部荷载作用下掏土孔间距的取值变化规律，上部面荷载与地基承载力特征值比值用p表示，孔间距与掏土孔直径比值用n表示。研究发现：多孔塑性区半径（孔间塑性区贯通时）是单孔塑性区半径的1.3倍左右;标准化荷载p与孔间距比值n二者呈线性关系;通过不同土体参数及上部荷载的不同情况下的p-n曲线，给出了掏土孔间距建议值。同时，将研究结果与三个实际工程进行对比，发现p-n曲线法与实际结果更为接近。     

SOINN-Based Abnormal Trajectory Detection for Efficient Video Condensation

With the evolution of video surveillance systems, the requirement of video storage grows rapidly; in addition, safe guards and forensic officers spend a great deal of time observing surveillance videos to find abnormal events. As most of the scene in the surveillance video are redundant and contains no information needs attention, we propose a video condensation method to summarize the abnormal events in the video by rearranging the moving trajectory and sort them by the degree of anomaly. Our goal is to improve the condensation rate to reduce more storage size, and increase the accuracy in abnormal detection. As the trajectory feature is the key to both goals, in this paper, a new method for feature extraction of moving object trajectory is proposed, and we use the SOINN (Self-Organizing Incremental Neural Network) method to accomplish a high accuracy abnormal detection. In the results, our method is able to shirk the video size to 10% storage size of the original video, and achieves 95% accuracy of abnormal event detection, which shows our method is useful and applicable to the surveillance industry.     

Simulation and energy optimization of the stabilizer tower of a pyrolysis gasoline hydrogenation unit

Energy optimization of second distillation tower of a pyrolysis gasoline hydrogenation unit has been studied by the thermal cycle of vapor recompression method. The mentioned cycle is connected to the second distillation tower of the stabilizer of pyrolysis gasoline, and the results are found promising. The composite pinch curve for both the current and the optimized methods are shown. Moreover, an increase in the heat transfer rate in heat exchanger E-1014 causes energy recovery in reboiler. According to simulation results, by vapor recompression to 1970 kPa and using this heat source for thermal integration, condenser and reboiler’s energies are decreased by 56.93 and 30.4 percentage, respectively.     

30CrNi3MoV钢的热变形行为及热加工图

采用Gleeble-3500热模拟试验机对30CrNi3MoV钢进行单向热压缩试验,研究了其在变形温度950~1150 ℃、应变速率0.01~10 s^-1的热变形行为,构建了应变补偿型流变应力本构方程,并绘制出该钢的热加工图。结果表明,30CrNi3MoV钢真应力-真应变曲线有3种不同特征:高温小应变速率时,表现为典型的动态再结晶过程;低温小应变速率时,曲线为动态回复特征;应变速率较大时,应力随应变的增大而增大,无明显的峰值应力。采用5次多项式拟合构建的应变耦合流变应力本构方程具有高的精确度,采用该方程获得的预测值与试验值的平均相对误差为3.2%,相关性系数R值为0.993。从热加工图中得到试验钢最佳的热加工工艺参数范围是:变形温度为1020~1150 ℃、应变速率为0.03~0.35 s^-1。     

井下安全阀力学性能分析

井下安全阀对安全性和可靠性要求较高。以渤海油田常用油管携带式井下安全阀为分析对象,对其工作压力、地面控制压力、全开启和全关闭压力、最大下入深度和自平衡能力等关键力学性能进行分析。井下安全阀的工作压力值与地面液控压力值相等,其选取依据为井口压力; 全开启和全关闭液控压力值可通过压力曲线法得到; 最大下入深度取决于弹簧安装时的预紧力; 自平衡能力与活塞面积和自平衡孔面积的比值有关,比值越大,自平衡能力越强。     

基于近似测地线的分层次自动铺带轨迹规划方法

自动铺带技术是一种增量制造技术，适用于制造翼面、壁板等大尺寸、小曲率复合材料构件，具有加工成本低、效率高等特点。轨迹规划是自动铺带技术的关键环节，它直接关系到复合材料构件的成型精度与质量。现有的自动铺带轨迹规划方法难以便捷兼顾调控铺放间隙与防止铺放褶皱，保证铺带产品的最终质量。有鉴于此，提出了一种基于近似测地线的分层次铺放轨迹规划方法。主要目标是合理利用预浸带允许变形能力，在防止铺放褶皱产生的前提下，保证相邻带料不产生覆盖，且间隙不超过2.5 mm。首先，研究了铺放间隙的产生与演化规律，给出了几种典型曲面上初始铺放间隙的优化方法。接下来，提出了近似测地线的数学模型与求解格式。然后，基于铺放褶皱的产生机制与铺放间隙的演化规律，确定了近似测地线的测地曲率大小与符号。最后，在双曲面模具以及自由曲面模具上验证了所提出方法的有效性。     

水平井筒气水流动规律及影响因素

由于流动方向变化及壁面流体的不断径向入流，水平井筒的气水流动规律与常规直井存在较大差异。在总结前人研究结果的基础上，优选水平井筒气液两相预测模型，并在验证模型可靠的情况下，考虑管壁入流和气液流型变化，改变气量、水量、管径、倾角、轨迹波动、气水入流位置等多个影响因素，对水平段流型、压力分布规律及影响因素进行综合预测分析，为水平气井的生产管理及后期措施优化提供依据。研究结果表明，一般生产条件下水平井筒存在分层流、间歇流和环雾流3种流型，管径和倾角对水平井筒的气、水流型影响最为明显，管壁入流对入流就地井筒流态的影响较小。水平井筒压力损失与气量、水量、轨迹上倾角及轨迹波动起伏程度呈正相关性，而与管径和下倾角呈负相关性。预测范围内，气量、轨迹上倾和管径对水平井筒压力损失的影响最为明显，是水平井筒压降的关键影响因素。随着轨迹上倾角增加，水平井筒压降随气量的变化规律发生明显反转，低气量条件下水平井筒压降随气量的减小而增加，高气量下压降随气量增加而增加。