Design and manufacturing of mobile micro manipulation system with a compliant piezoelectric actuator based micro gripper

This paper presents a new design of mobile micro manipulation system for robotic micro assembly where a compliant piezoelectric actuator based micro gripper is designed for handling the miniature parts and compensation of misalignment during peg-in-hole assembly is done because piezoelectric actuator has capability of producing the displacement in micron range and generates high force instantaneously. This adjusts the misalignment of peg during robotic micro assembly. The throughput/speed of mobile micro manipulation system is found for picking and placing the peg from one hole to next hole position. An analysis of piezoelectric actuator based micro gripper has been carried out where voltage is controlled through a proportional-derivative (PD) controller. By developing a prototype, it is demonstrated that compliant piezoelectric actuator based micro gripper is capable of handling the peg-in-hole assembly task in a mobile micro manipulation system.     

Global stable tracking control of underactuated ships with input saturation

In this paper, tracking control of underactuated ship in the presence of input saturation is addressed. By dividing the tracking error dynamic system into a cascade of two subsystems, the torques in surge and yaw axes are designed separately using the backstepping technique. More specifically, we design the yaw axis torque in such a way that its corresponding subsystem is finite time stable, which makes it to be de-coupled from the second subsystem after a finite time. This enables us to design the torque in the surge axis independently. It is shown that the closed-loop system is stable and the mean-square tracking errors can be made arbitrarily small by choosing design parameters. Simulation results also verify the effectiveness of the proposed scheme.     

砾岩储层精细描述中标准测井资料的应用

克拉玛依油田七区的标准测井资料是指使用标准电极系视电阻率测井、自然电位测井和井径测井,以相同的1:500深度比例尺及相同的横向比例进行测井作业所取得的资料.这种资料本来并不具备定量解释储层孔隙度和含油饱和度的能力,但这种资料占该区测井资料总量的比率高达34%.利用标准电极系视电阻率资料和岩心分析资料建立了视电阻率-岩性图版,利用自然电位减小系数α和岩心孔隙度分析资料φ建立了α-φ图版,根据综合测井资料求出标准测井视电阻率校正系数,进而确定了饱和度计算方程的参数.与相应的综合测井资料计算结果相对比,用该方法得到的孔隙度平均绝对误差及相对误差分别为1.85%和11.88%;含油饱和度平均绝对误差及相对误差分别为9.08%和24.75%.将该方法有选择地应用到该区砾岩储层精细描述研究中,弥补了缺乏综合测井资料无法进行测井储层评价及参数研究的缺陷.     

Robust State Feedback Control Through Actuators With Generalized Sector Nonlinearities And Saturation

In control systems, actuators often have nonlinear characteristics that can not be neglected. For linear systems driven by actuators satisfying the generalized sector condition, a robust state feedback controller synthesis method is proposed to achieve the ultimate boundedness control. The method is based on the linear matrix inequality approach and is easy to apply. As an important special case of the generalized sector condition, the saturation characteristic of actuators is discussed separately, and non‐conservative results are obtained.     

特低渗透油层含油饱和度的一种校正方法

松辽盆地北部扶杨油层属特低渗透油层，即使采用油基泥浆取心或密闭取心样品，束缚水饱和度也难以测准。蒸馏法试验表明，若试验温度低，则束缚水蒸发不彻底，实测含水饱和度偏低；若试验温度高，则容易造成岩样粘土矿物晶间水脱水，实测含水饱和度偏高，影响了储量计算精度。为搞清特低渗透油层流体蒸发特征，开展了蒸发率试验，试验过程是：将岩样洗油后重新饱和水，再在与蒸馏法试验相同的试验条件下测定蒸发的水量。试验结果表明，有效孔隙度越小，蒸发率越低。由于两个试验过程的蒸发率近似相等，用蒸发率试验可以模拟蒸馏法试验，由此推导出束缚水饱和度计算公式。应用该公式对榆树林油田进行测算，校正前后原始含油饱和度相差１２％以上，储量相差２０×１０６ｔ以上。图２（郭海莉摘）     

分割电极片状压电致动器——(二)位移特性及狭缝宽度对其影响的实验研究

研究了悬臂梁式分割电极片状压电致动器的位移特性。理论分析表明，分割电极狭缝宽度会减小致动器自由端的位移输出，但当狭缝宽度小于致动器电极宽度的１０％时，可忽略狭缝宽度的影响。致动器端部位移的测试结果大于理论计算值。与现有磁头悬浮臂尺寸相近的致动器，在２０Ｖ～５０Ｖ的电压驱动下均可获得１μｍ～２μｍ的致动位移。对９８５０道／厘米的密度磁盘，该位移能覆盖至少一个磁道宽度，满足磁头定位两级伺服系统对第二级致动器位移的基本要求。     

In－BiCaVIG的晶体生长与性能

本文报导了用助熔剂法成功地生长大尺寸掺铟ＢｉＣａＶＩＧ晶体的方法以及实验结果，介绍了该单晶在近红外区的磁光器件中的重要应用。     

弱凝胶调驱降维数值模拟方法研究

目前用于弱凝胶调驱的化学驱软件大多存在计算速度慢、数值弥散现象严重的问题,为了提高弱凝胶调驱数值模拟的速度和精度,提出了降低维数的模拟方法。利用追踪流线的方法,将弱凝胶调驱的三维渗流问题,转化为沿流线计算饱和度的一维问题,大大降低了求解饱和度方程组中方程的数目,从而提高了计算速度。利用该方法,模拟了玉门老君庙油田一个试验井区的水驱开发历史,优化了弱凝胶调驱的注入浓度、注入速度及注入体积等参数,并预测了弱凝胶调驱的动态,预测该方案可提高采收率7.6%。     

不同压力下气层岩样m、n值变化的实验研究

胶结指数m和饱和度指数n变化规律的研究一直是岩石物理学家和测井解释分析家关注的问题。压力是影响m、n的重要因素,但迄今为止,仍未取得可使多数人接受的一般性结论。实验开展了低孔隙度低渗透率气层岩样在不同压力条件下的电阻率测量,在考虑孔隙度随压力变化的基础上建立了m、n参数随压力变化的关系,得出结论:某些地区的气层岩样在压力增大时即使考虑孔隙度变化,m值增大,n值减小。     

A novel method of suppressing the inrush current of transformers by using a series‐connected voltage‐source PWM converter

This paper proposes a novel method of suppressing the inrush current of transformers. A small‐rated voltage‐source PWM converter is connected in series to the transformers through a matching transformer. As the connected PWM converter serves as a resistor for the source current, no inrush phenomena occurs. The required rating of the PWM converter, which serves as the damping resistor for the inrush phenomena, is 1/400 that of the main transformers in single‐phase circuits. In three‐phase circuits, it is 1/900. The basic principle of the proposed method is discussed. Digital computer simulation is implemented to confirm the validity and excellent practicability of the proposed method using the PSCAD/EMTDC. A prototype experimental model is constructed and tested. The experimental results demonstrate that the proposed method can perfectly suppress the inrush phenomena. © 2006 Wiley Periodicals, Inc. Electr Eng Jpn, 157(4): 56–65, 2006; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20174