Linear quadratic optimal controller for cable-driven parallel robots

In recent years, various cable-driven parallel robots have been investigated for their advantages, such as low structural weight, high acceleration, and large workspace, over serial and conventional parallel systems. However, the use of cables lowers the stiffness of these robots, which in turn may decrease motion accuracy. A linear quadratic (LQ) optimal controller can provide all the states of a system for the feedback, such as position and velocity. Thus, the application of such an optimal controller in cable-driven parallel robots can result in more efficient and accurate motion compared to the performance of classical controllers such as the proportional-integral-derivative controller. This paper presents an approach to apply the LQ optimal controller on cable-driven parallel robots. To employ the optimal control theory, the static and dynamic modeling of a 3-DOF planar cable-driven parallel robot (Feriba-3) is developed. The synthesis of the LQ optimal control is described, and the significant experimental results are presented and discussed.     

The effects of human menstrual blood stem cells‐derived granulosa cells on ovarian follicle formation in a rat model of premature ovarian failure

Many studies have reported that human endometrial mesenchymal stem cells (HuMenSCs) are capable of repairing damaged tissues. The aim of the present study was to investigate the effects of HuMenSCs transplantation as a treatment modality in premature ovarian failure (POF) associated with chemotherapy‐induced ovarian damage. HuMenSCs were isolated from menstrual blood samples of five women. After the in vitro culture of HuMenSCs, purity of the cells was assessed by cytometry using CD44, CD90, CD34, and CD45 FITC conjugate antibody. Twenty‐four female Wistar rats were randomly divided into four groups: negative control, positive control, sham, and treatment groups. The rat models of POF used in our study were established by injecting busulfan intraperitoneally into the rats during the first estrus cycle. HuMenSCs were transplanted by injection via the tail vein into the POF‐induced rats. Four weeks after POF induction, ovaries were collected and the levels of Amh, Fst, and Fshr expression in the granulosa cell (GC) layer, as well as plasma estradiol (E2) and progesterone (P4) levels were evaluated. Moreover, migration and localization of DiI‐labeled HuMenSCs were detected, and the labeled cells were found to be localized in GCs layer of immature follicles. In addition to DiI‐labelled HuMenSCs tracking, increased levels of expression of Amh and Fshr and Fst, and the high plasma levels of E2 and P4 confirmed that HuMenSC transplantation had a significant effect on follicle formation and ovulation in the treatment group compared with the negative control (POF) group.     

Analysis of two‐dimensional porous fins with variable thermal conductivity

Analysis of porous fins for their higher heat transfer in comparison with solid fins with identical volumes has attracted significant attention. In this paper, a two‐dimensional thermal analysis of a porous fin having variable thermal conductivity coefficient is performed using finite difference method. Heat transfer through porous media is simulated using passage velocity from Darcy's model. The thermal conductivity of the solid phase is considered as a linear function of temperature. It is found that the temperature profile of the fin is completely two‐dimensional even for high Rayleigh and Darcy numbers (Ra = 10³～10⁴, Da = 0.01), because the temperature changes significantly along the transverse axis especially for lower Rayleigh and Darcy numbers. Also, the effects of important nondimensional parameters such as Rayleigh and Darcy numbers, porosity, Nusselt, thermal conductivity, and aspect ratio on the temperature profile are investigated. The results demonstrate that the temperature distribution is strongly dependent on the Rayleigh and Darcy numbers.     

The Reaction Behavior of Direct Reduced Iron (DRI) in Steelmaking Slags: Effect of DRI Carbon and Preheating Temperature

An experimental study was conducted to quantify the rate of direct reduced iron (DRI) decarburization in a steelmaking slag using the constant volume pressure increase technique. Experiments were conducted by dropping DRI pellets into molten slag at temperatures from 1773 K to 1873 K (1500 °C to 1600 °C). Subsequent experiments were carried out in which the DRI pellets were preheated while the slag temperature remained constant. The effect of the initial carbon content and the preheating temperature of the DRI on the reaction rate was investigated. The decarburization of DRI seems to comprise two stages, a reaction between the FeO and DRI followed by decarburization through the iron oxide of slag. Carbon has a significant effect on the kinetics of both stages, whereas the preheating temperature mainly influences the rate of decarburization between FeO and carbon inside the pellet.     

用自组织方法分析油藏动态

数据组合处理方法（GMDH）是70年代发展起来的一种启发式自组织建模方法,由前苏联学者伊万年科（Ivakhnenko,1970）借助生物控制论中的自组织原理,用启发式的方法提出的;它能有效的解决复杂非线性系统的建模问题.简单介绍了此方法的基本原理及计算步骤,首次探讨了在分析油藏动态方面的应用,并以南阳油田的实际数据为例,建立了区块地层压力预测模型和区块产量预测模型,其预测相对误差在5%以内,表明该方法实用可行.最后还讨论了该方法在油田开发中的应用前景.     

晶须增韧陶瓷复合材料

综述了晶须增韧陶瓷复合材料的制备方法和分类;讨论了影响增韧效果的各种因素及对陶瓷材料力学性能、抗热震性和耐磨性等方面的影响;并将近年来有关晶须增韧陶瓷基复合材料机理方面的研究进展,晶须在陶瓷材料中的应用及今后的发展趋势等作以介绍.     

评价油井堵水工艺效果的含水特征曲线法

常规堵水效果评价方法,受方法本身局限,不能客观地评价油井堵水工艺效果,更无法对堵水效果进行定量分析评价。含水特征曲线法消除了含水率的偶然性波动对评价效果的影响,考虑了措施前后含水动态变化趋势,可对措施效果进行定性及定量分析评价。     

Co系Ziegler-Natta催化剂催化丁二烯-苯乙烯共聚合——Ⅰ.高顺式-1,4丁二烯-苯乙烯共聚物的合成与表征

对比了4种Ni,Co化合物分别与倍半乙基铝所组成的体系对丁二烯-苯乙烯共聚的催化活性;详细研究了Co-Al催化体系的制备条件和工艺参数对共聚物的[η],微观结构和结合St含量的影响,合成出顺式-1,4含量>95％(mol)、结合St含量为5％—10％(mol),[η]=2—2.7dL/g的丁苯共聚物,从而开发出一种新型丁苯共聚催化剂。