遥操作工程机器人系统临场感技术研究-6自由度临场运动感觉反馈技术的研究进展

 研究开发出一种遥操作工程机器人系统，可以应用于诸如火灾现场的修复作业等广阔的领域．该系统由伺服控制的工程机器人、2根从远处操纵工程机器人的操纵杆、视频系统和6自由度运动模拟器组成．操作者坐于座椅上，座椅固定于运动模拟器的上方． 该系统需要解决的一个关键问题是如何使操纵者高质量地获得工作现场的临场运动感觉． 提出了一种6自由度临场运动感觉反馈方法，其信号源来自工程机器人上安装的6个加速度传感器． 该方法的有效性已为实验所证明，即应用6自由度运动模拟器不但可以高质量地模拟工程机器人单个自由度的运动：滚动、俯仰、转动以及前后、左右、上下的平移，而且可以高质量地模拟工程机器人的各种复合运动．     

发电设备的检修策略及可靠性管理研究

检修策略和可靠性管理是发电厂设备管理工作相辅相成的 2个方面 ,必须予以足够重视。目前要加大力度做好可靠性管理工作 ,建立可靠性管理系统为发电设备管理提供技术支持 ,为设备检修提供依据 ,以获得最佳的经济效益。     

In-situ composite Cu-Cr contact cables with high strength and high conductivity

In order to develop a new type of contact cable with high strength and high electrical conductivity, Cu-Cr alloy series were selected as materials and Cu-Cr alloy castings were produced by means of directional solidification continuous casting (DSCC) process. The results show that the fibrillar strengthening phase, 13-Cr, orderly arranges among the copper matrix phase along the wire direction; and a microstructure of in-situ composite forms, which retains the basic property of good conductivity of the copper matrix and meanwhile obtains the strengthening effect of [3-Cr phase. The production technology as well as the mechanical property, electrical property, and synthetic property of the in-situ composite contact cables was discussed.     

烯烃聚合单活性中心非茂催化剂的最新研究进展

综述了近几年来烯烃聚合用单活性中心非茂催化剂的研究进展。简要介绍了 2 3种由前、后过渡金属组成的配位化合物催化剂的结构与性能     

炉衬产生的氧对真空钢液脱氮的动力学影响

采用 99.99%氧化镁砂捣打炉衬的 2 0kg真空感应炉 ,研究了超低碳钢熔炼时炉衬产生的氧对真空钢液脱氮的影响。试验结果表明 :钢液中氧含量在 1 2 0× 1 0 - 6 时 ,脱氮的限制性环节是界面化学反应 ;随炉衬中氧的逸出 ,当钢液中氧含量在 5 1 0×1 0 - 6 时 ,真空钢液脱氮处于界面化学反应和液相边界层扩散控制的边缘区域 ,脱氮速率降低     

In-Situ observation on microfracture behavior ahead of the crack tip in 63Sn37Pb solder alloy

in-situ transmission electron microscopy (TEM) tensile tests on as-cast and aged 63Sn37Pb solder alloys were conducted, and the fracture behavior in nanometer scale ahead of the crack tip was inspected and discussed. Results show that the fracture was completed by connecting the discontinuous cracks or voids. Dislocation behavior was concentrated along the grain boundaries for as-cast samples, and displayed mainly as dislocation climb. The crack was intergranular dominated under the lower strain rate. While remarkable mutual dislocation emission was detected in the aged solder. Transgranular cracks were dominant in the fractured area, and they propagated by linking up with the nanometer scale cracks ahead of the crack tips under the effective promotion of the inverse dislocation emission. At the same time, the partial interphase or intergranular cracks in the thinned area were also found. Under this condition, a new critical stress intensity factor K _c ^′ to define the mutual dislocation emission was proposed.     

做好水电建设工程质量监督工作

水电建设工程质量监督工作自2000年开展以来，在质量监督总站指导下，经过大家的共同努力，水电建设工程的质量监督工作发展顺利，并取得了很大成效，但也存在一些不足，这方面的经验和问题很值得认真总结，以适应水电建设新形势的要求。笔者根据参加多年水电工程质量监督工作的实践，想谈谈个人看法，与同仁商榷。     

Perfect Blind-Channel Shortening for Multicarrier Systems

In multicarrier systems, when the order of a channel impulse response is larger than the length of the cyclic prefix (CP), there is a significant performance degradation due to interblock interference (IBI). This paper proposes a blind-channel shortening method in which the equalizer parameter vector is formed by the noise subspace of the received signal correlation matrix so that the output power is maximized. The proposed method can not only shorten the effective channel impulse response to within the CP length but also maximize the output signal-to-interference-and-noise ratio while eliminating the IBI. We point out that the performance depends on the choice of a decision delay and propose a simple method for determining the appropriate delay. We propose both a batch algorithm and an adaptive algorithm and show by simulation that they are superior to the conventional algorithms.     

ADI-FDTD Method With Fourth Order Accuracy in Time

This letter presents an unconditionally stable alternating direction implicit finite-difference time-domain (ADI-FDTD) method with fourth order accuracy in time. Analytical proof of unconditional stability and detailed analysis of numerical dispersion are presented. Compared to second order ADI-FDTD and six-steps SS-FDTD, the fourth order ADI-FDTD generally achieves lower phase velocity error for sufficiently fine mesh. Using finer mesh gridding also reduces the phase velocity error floor, which dictates the accuracy limit due to spatial discretization errors when the time step size is reduced further.     

Investigation of Mechanical and Electrical Characteristics for Cracked Conductive Particle in Anisotropic Conductive Adhesive (ACA) Assembly

In an anisotropic conductive adhesive (ACA) assembly, the electrical conduction is usually achieved with the conductive particles between the bumps of integrated circuit (IC) and corresponding conductive tracks on the glass substrate. Fully understanding of the mechanical and electrical characteristics of ACA particles can help to optimize the assembly process and improve the reliability of ACA interconnection. Most conductive particles used in the ACA assembly are with cracks in the metal coating of the particles after the ACA bonding. This paper introduced the fracture analysis by applying the cohesive elements in the numerical model of the nickel-coated polymer particle and further simulating the cracks initiation and propagation in the nickel coating during the ACA bonding. The simulation results showed that the stress distribution on the nickel-coated particle with cracks was significantly different from that on the nickel-coated particle without crack, indicating that the stress analysis by taking the crack into consideration is very important for the reliability assessment of the ACA interconnection. The stress analysis of cohesive elements indicated that the cracks initiated at the central area of the nickel coating and propagated to the polar area. Furthermore, by the introduction of a new parameter of the virtual resistance, a mathematical model was established to describe the electrical characteristics of the nickel-coated particle with cracks. The particle resistance of the nickel-coated particle with cracks was found to be much higher than that of the particle without crack in the optimized bonding pressure range, indicating that it is necessary to take the crack into consideration for the particle conduction analysis as well. Therefore, the fracture analysis on the conductive particle by taking the crack into consideration could accurately evaluate the reliability of ACA interconnection and avoid serious reliability issues.