The modeling and implementation of tri-rotor flying robot

The objective of this study is to develop a tri-rotor flying robot, which adopts the Y-shaped three-rotor structure. In order to balance the yaw torque produced by the three rotors, the RC servomotor and linkage is installed on the tail axis in order to improve the angle of the rolling axis of the tail motor. Moreover, through the torque generated by the horizontal component of the lift from the inclined motor on the tail axis, it balances the yaw torque of the three rotors. The dynamic equations of the tri-rotor flying robot are determined in this paper. The relationship between motor thrust, angular acceleration, and voltage input was also studied in this research. In order to study the effect of control parameters on the flight stability completely, this study develops a universal stability experimental platform to help tuning the control parameters safely. Based on this, the tri-rotor flying robot can rapidly change flying gesture and avoid oscillation. Finally, we conducted some indoor and outdoor flight tests. From the experimental results, the tri-rotor flying robot can fly and hover stably in the sky.     

Path planning of fire-escaping system for intelligent building

We present the path-planning techniques of the fire-escaping system for intelligent building, and use multiple mobile robots to present the experimental scenario. The fire-escaping system contains a supervised computer, an experimental platform, some fire-detection robots and some navigation robots. The mobile robot has the shape of a cylinder, and its diameter, height and weight are 10?cm, 15?cm and 1.5?kg, respectively. The mobile robot contains a controller module, two DC servomotors (including drivers), three IR sensor modules, a voice module and a wireless RF module. The controller of the mobile robot acquires the detection signals from reflective IR sensors through I/O pins and receives the command from the supervised computer via wireless RF interface. The fire-detection robot carries the flame sensor to detect fire sources moving on the grid-based experiment platform, and calculates the more safety escaping path using piecewise cubic Bezier curve on all probability escaping motion paths. Then the user interface uses A* searching algorithm to program escaping motion path to approach the Bezier curve on the grid-based platform. The navigation robot guides people moving to the safety area or exit door using the programmed escaping motion path. In the experimental results, the supervised computer programs the escaping paths using the proposed algorithms and presents movement scenario using the multiple smart mobile robots on the experimental platform. In the experimental scenario, the user interface transmits the motion command to the mobile robots moving on the grid-based platform, and locates the positions of fire sources by the fire-detection robots. The navigation robot guides people leaving the fire sources using the low-risk escaping motion path and moves to the exit door.     

Torsional boundary layer effects in shells of revolution undergoing large axisymmetric deformation

Numerical and asymptotic solutions are developed to the equations governing large torsional, axisymmetric deformation of rubberlike shells of revolution. The shell equations include large-strain geometric and material nonlinearities, transverse shear deformation, transverse normal stress and strain, and torsion. Both analyses allow ready incorporation of different strain-energy density functions. In the asymptotic analysis, the interior solution corresponds to that of nonlinear membrane theory and contains a primary boundary layer. The edge-zone solution gives a secondary boundary layer that, for large strain, divides into a bending-twisting moment component and a torsional-membrane component. The boundary layer behavior is illustrated for a clamped neo-Hookean cylinder subjected to internal pressure and axial torque.List of symbols Latin symbols a General dependent variable - a ^(mn) Terms of the asymptotic expansion of a(x) - b Characteristic length - c Scalar curvature components in the normal direction - c , c , , c Cosine of , respectively - C Material constant with units of a Young's modulus - e _i Deformed local orthonormal basis associated with (, s, n)(x ₁, x ₂, x ₃) coordinates - Undeformed cylindrical coordinate basis - Intermediate coordinate basis - g Shear correction factor - H Horizontal stress resultants - l ₁ Strain invariant - k Scalar curvature components - L Undeformed cylinder length - M Moment resultants - M _r, M , M _z Moment resultant components in the basis - N Membrane stress resultants - p Internal pressure - p _H, p _v Horizontal and vertical surface loads, respectively - p _i Thickness-averaged surface tractions - Q Transverse shear stress resultants - , r Radial coordinate prior to, after deformation - R Undeformed cylinder radius - , s Meridional coordinate prior to, after deformation - s , s _x, , s Sine of , respectively - , S Reference surface prior to, after deformation - S ₁, S ₂ Shear stress resultants parallel to the reference surface - S ₃ Average transverse normal stress resultant - t Undformed shell thickness - T Axial torque - V Vertical stress resultants - w Two-dimensional strain-energy density function - w _n Terms in expansion for w - W Three-dimensional strain-energy density function - x Undeformed axial coordinate in cylinder - , z Axial coordinate prior to, after deformation     

铂铑包覆钼合金搅拌器的研制

介绍了铂铑包覆钼合金搅拌器的结构与技术要求,以及搅拌器的制作与使用效果。研制结果表明,国产搅拌器达到了日本同类产品的水平。     

Phase behavior of ternary polymer blends

The effect of varying interaction parameters on the phase diagrams of ternary polymer blends was explored by simulating spinodals through use of the Flory-Huggins lattice theory. Results indicate that miscibility is favored for the case of ternary mixtures of marginally miscible or marginally immiscible pairs where all pair interactions are nearly athermal. Miscibility is restricted for asymmetric ternary blends when one of the polymer pairs is either strongly miscible or strongly immiscible. For symmetric blends of partially immiscible pairs, both two-phase and three-phase miscibility gaps are predicted.     

通过细乳液聚合方法制备自交联型有机硅乳液

苯乙烯与甲基丙烯酸-3-三甲氧基硅丙酯(M PS)经细乳液聚合,制得了稳定的自交联型的水分散涂料,用透射电子显微镜(TEM)、动态光散射仪(DLS)和红外光谱(IR)表征了乳胶粒的形态和结构。发现与传统乳液聚合相比,细乳液聚合法可显著提高乳液的稳定性,且M PS加入量的增加会导致乳液稳定性降低。     

Evaluation of a haptics-based virtual reality temporal bone simulator for anatomy and surgery training

Introduction

Virtual reality simulation training may improve knowledge of anatomy and surgical skills. We evaluated a 3-dimensional, haptic, virtual reality temporal bone simulator for dissection training.

Methods

The subjects were 7 otolaryngology residents (3 training sessions each) and 7 medical students (1 training session each). The virtual reality temporal bone simulation station included a computer with software that was linked to a force-feedback hand stylus, and the system recorded performance and collisions with vital anatomic structures. Subjects performed virtual reality dissections and completed questionnaires after the training sessions.

Results

Residents and students had favorable responses to most questions of the technology acceptance model (TAM) questionnaire. The average TAM scores were above neutral for residents and medical students in all domains, and the average TAM score for residents was significantly higher for the usefulness domain and lower for the playful domain than students. The average satisfaction questionnaire for residents showed that residents had greater overall satisfaction with cadaver temporal bone dissection training than training with the virtual reality simulator or plastic temporal bone. For medical students, the average comprehension score was significantly increased from before to after training for all anatomic structures. Medical students had significantly more collisions with the dura than residents. The residents had similar mean performance scores after the first and third training sessions for all dissection procedures.

Discussion

The virtual reality temporal bone simulator provided satisfactory training for otolaryngology residents and medical students.     

Security-aware intermediate data placement strategy in scientific cloud workflows

Massive computation power and storage capacity of cloud computing systems allow scientists to deploy data-intensive applications without the infrastructure investment, where large application datasets can be stored in the cloud. Based on the pay-as-you-go model, data placement strategies have been developed to cost-effectively store large volumes of generated datasets in the scientific cloud workflows. As promising as it is, this paradigm also introduces many new challenges for data security when the users outsource sensitive data for sharing on the cloud servers, which are not within the same trusted domain as the data owners. This challenge is further complicated by the security constraints on the potential sensitive data for the scientific workflows in the cloud. To effectively address this problem, we propose a security-aware intermediate data placement strategy. First, we build a security overhead model to reasonably measure the security overheads incurred by the sensitive data. Second, we develop a data placement strategy to dynamically place the intermediate data for the scientific workflows. Finally, our experimental results show that our strategy can effectively improve the intermediate data security while ensuring the data transfer time during the execution of scientific workflows.     

Object Bank: An Object-Level Image Representation for High-Level Visual Recognition

It is a remarkable fact that images are related to objects constituting them. In this paper, we propose to represent images by using objects appearing in them. We introduce the novel concept of object bank (OB), a high-level image representation encoding object appearance and spatial location information in images. OB represents an image based on its response to a large number of pre-trained object detectors, or ‘object filters’, blind to the testing dataset and visual recognition task. Our OB representation demonstrates promising potential in high level image recognition tasks. It significantly outperforms traditional low level image representations in image classification on various benchmark image datasets by using simple, off-the-shelf classification algorithms such as linear SVM and logistic regression. In this paper, we analyze OB in detail, explaining our design choice of OB for achieving its best potential on different types of datasets. We demonstrate that object bank is a high level representation, from which we can easily discover semantic information of unknown images. We provide guidelines for effectively applying OB to high level image recognition tasks where it could be easily compressed for efficient computation in practice and is very robust to various classifiers.     

Use of mesoporous SBA-15 for nanostructuring titania for photocatalytic applications

SBA15–TiO₂ samples prepared by introducing titanium with a grafting method and having TiO₂ loadings below 15 wt.% have been characterized by XRF, XRD, IR, porosimetry, SEM, HRTEM, and UV–Visible diffuse reflectance. Differently from the samples reported in the literature characterized by a high TiO₂ loading, no evidences have been found for the presence of titania particles inside or outside the mesopores of SBA-15. Three different titanium species were instead evidenced to be present. The first two derive from the reaction of titanium with silanol groups in the corona area of inner SBA-15 walls leading to the formation of either TiO₄ tetrahedral sites (by reaction by hydroxyl nests of surface defect sites) and/or pseudo-octahedral surface sites anchored by two (or more) Si or Ti ions through bridging oxygens. The third species derives from the reaction of titanium in the regions with high sylanol density, e.g. in the micropores located in the corona of SBA-15 channels, leading to the formation of TiO₂-like nanoareas (probably Si-doped) with dimensions of around 1–2 nm maximum. The potential interest of these materials as photocatalysts, for the presence of a TiO₂-like nanoareas highly accessible by reactants, is discussed.