Orientation angle workspaces of planar serial three-link manipulators

This paper presents a classification on the workspaces of planar serial three-link manipulators, that is, position workspace and orientation angle workspace. Position workspace indicates the region reached by the reference point on the end-effector. Orientation angle workspace indicates a set of angle ranges by which the end-effector can reach with certain orientation for every point in the reachable position workspace. By introducing a virtual equivalent mechanism, reachable position workspace can be divided into several Grashof intervals and non-Grashof intervals. The calculation equations of orientation angle workspace are deduced in three situations according to the relationships among four link lengths in the virtual four-bar chain. Three examples are given for three kinds of relationship of link lengths. The orientation angle workspace of extended groups, that is, two of the three link lengths equal, and the orientation angle workspace when the reference point on the end-effector moves along a non-radial direction are also discussed. A program is developed to calculate orientation angle workspaces and output variation curves of orientation angle workspace and key data within the position workspace. The approach and program in this paper can be used for fast calculation and identification of the variation rule of the orientation angle workspace of any given planar serial three-link manipulator on the basis of its link parameters, and for the design of a highly dexterous serial manipulator with proposed link relations. Supported by the Natural Science Foundation of Shanxi Province (Grant No. 20041070)     

Hybrids perfluorosulfonic acid ionomer and silicon oxide membrane for application in ion-exchange polymer-metal composite actuators

This paper reports a new technique to fabricate an ion-exchange polymer-metal composite (IPMC) actuator. This technique is based on a hybrid organic-inorganic composite membrane. In the fabrication course, silica oxide particles, prepared from hydrolysis of tetraethyl orthosilicate in situ with sol-gel reaction, co-crystallize with perfluorosulfonate acid (PFSA) ionomer. Attenuated total reflectance fourier transform infrared spectroscopy (ATR-FTIR) analyses demonstrate that a highly water-saving hybrid mem...     

Restraint of mid-spatial frequency error in magneto-rheological finishing (MRF) process by maximum entropy method

In order to restrain the mid-spatial frequency error in magnetorheological finishing (MRF) process, a novel part-random path is designed based on the theory of maximum entropy method (MEM). Using KDMRF-1000F polishing machine, one flat work piece (98 mm in diameter) is polished. The mid-spatial frequency error in the region using part-random path is much lower than that by using common raster path. After one MRF iteration (7.46 min), peak-to-valley (PV) is 0.062 wave (1 wave =632.8 nm), root-mean-square (RM...     

Composite silicone rubber of high piezoresistance repeatability filled with nanoparticles

The ruthenium oxide nanoparticles with size less than 20 nm were fabricated by annealing the metallic ruthenium nanoparticles in air, which were synthesized by using the thermal reduction in the polyol solution. The rutile structure of the ruthenium oxide was proved by using transmission electron microscopy (TEM) and X-ray photoelectron spectroscopy (XPS). The oxide has good electron conductivity. The surface of the ruthenium oxide was modified by a vinyl silane coupling agent. The assembling of the silane to the oxide surface was proved by Infrared (IR) absorption spectroscopy. By mixing the nanoparticles with poly(methylvinylsiloxane) (PMVS) silicone rubber, a composite filled with dispersive conducting phase was fabricated. The temperature dependent conductivity shows that the electron transportation through composite is mainly dominated by tunneling. The measurement of piezoresistance shows that the composite at low strain has high piezoresistance repeatability. The 3D reconstruction images of the composite filled with carbon black or ruthenium oxide show that the aggregation of the nanoparticles differs much for two composites. The narrow distribution range of the particle size was thought to be the main factor for the high piezoresistance recurrence.     

硅酸盐富锌（水性）防腐涂料的研究

通过分析比较，找出制备硅酸盐富锌涂料的理想配方。试验检测表明：该涂层具有良好的附着力，较强防腐性能等。是一种很有发展潜力的防腐蚀涂料。     

玻璃钢管在核电站淡水输水工程中的应用

本文阐述了玻璃钢管在淡水输水工程中球墨铸铁管相比有比较明显的技术及经济优势，以及安装施工中应重视的几个问题。     

New liquid membrane technology for simultaneous extraction and stripping of copper(II) from wastewater

In this paper, a new liquid membrane technique, hollow fiber renewal liquid membrane (HFRLM), is presented, which is based on the surface renewal theory, and integrates the advantages of fiber membrane extraction, liquid film permeation and other liquid membrane processes. The results from the system of CuSO₄+D2EHPA in kerosene+HCl show that the HFRLM process is very stable. The liquid membrane is renewed constantly during the process, the direct contact of organic droplets and aqueous phase provides large mass transfer area. These effects can significantly reduce the mass transfer resistance in the lumen side. Then the mixture of feed phase and organic phase flowing through the lumen side gives a higher mass transfer rate than that of stripping phase and organic phase, because the aqueous layer diffusion of feed phase is the rate-controlling step. The overall mass transfer coefficient increases with increasing flow rates and D2EHPA concentration in the organic phase, and with decreasing initial copper concentration in the feed phase. The overall mass transfer coefficient also increases with increasing pH in the feed phase, and reaches a maximum value at pH of 4.44, then decreases. Also, there is a favorable w/o volume ratio of 20:1 to 30:1 for this process. Compared with hollow fiber supported liquid membrane and hollow fiber membrane extraction processes, HFRLM process has a high mass transfer rate. Mathematical model for the HFRLM process based on the surface renewal theory is developed. The calculated results are in good agreement with experimental results under the conditions studied.     

基于欧氏距离及向量内积的骨架提取算法

对骨架算法进行研究,提出一种骨架提取算法.通过对图像内部像素点进行距离变换得到其最近边界点的位置,将内部像素点到最近边界点的向量定义为边界向量,根据物体内部相邻边界向量的方向,计算每个像素点的内积值和其8邻域的最小内积值,得到的最小内积点,以确定的阈值从最小内积点中选取骨架种子点,再对骨架种子点进行处理,得到连通的骨架.试验证明这种算法能保证骨架具的完整性和连通性,正确反映物体的拓扑结构.     

反应注射充模特性及模具浇口结构设计的研究

本文对反应注射充模过程中的铺展流、射流、绕流和气泡的特性进行了分析研究，并讨论了模具浇口结构及位置对充模的影响，给出了制品的设计方法。     

Influence of block lengths and symmetries of block copolymers on phase behavior of polymer A/polymer B/block copolymer ternary blends

Monte Carlo simulations were used to investigate the compatibilizing effects of diblock copolymers in A/B/A-B diblock copolymer ternary blends and triblock copolymers in A/B/triblock copolymer ternary blends, respectively. The volume fraction of homopolymer A was 19% and was the dispersed phase. The simulation results show that diblock copolymers with longer A-blocks are more efficient as compatibilizers, and symmetric triblock copolymers with a shorter middle block length are easily able to bridge each other through the association of the end blocks. This kind of triblock copolymers have relatively high ability to retard phase separation as compatibilizers.