Decentralized adaptive control scheme for control of a multi-arm-type robot

This paper deals with the problem of decentralized stabilization for a class of unknown large-scale dynamic systems formed of interconnected subsystems under constant disturbances. A decentralized adaptive control scheme is proposed based on the Lyapunov direct method and a condition of asymptotic stability is derived. Then the decentralized adaptive control scheme is applied for a class of robot manipulators to track the desired trajectory as closely as possible despite a wide range of manipulator motions and parameter uncertainties of links and payload.     

Development of Ubiquitous Simulation Service Structure Based on High Performance Computing Technologies

The simulation field became essential in designing or developing new casting products and in improving manufacturing processes within limited time, because it can help us to simulate the nature of processing, so that developers can make ideal casting designs. To take the prior occupation at commercial simulation market, so many development groups in the world are doing their every effort. They already reported successful stories in manufacturing fields by developing and providing the high performance simulation technologies for multipurpose. But they all run at powerful desk-side computers by well-trained experts mainly, so that it is hard to diffuse the scientific designing concept to newcomers in casting field. To overcome upcoming problems in scientific casting designs, we utilized information technologies and full-matured hardware backbones to spread out the effective and scientific casting design mind, and they all were integrated into Simulation Portal on the web. It professes scientific casting design on the NET including ubiquitous access way represented by ＂Anyone, Anytime, Anywhere＂ concept for casting designs.     

土工离心机模拟泥石流问题的相似性考虑

尺度效应是阻碍对泥石流复杂动力学过程理解的最主要因素。土工离心机通过提供一个等效的高倍重力加速度场,能够在模型中还原岩土工程原型的应力状态,为泥石流物理模拟的尺度效应难题提供了一个经济可行的解决方案。在总结前人提出的两相流（泥石流）无量纲参数的基础上,建立了应用于土工离心机模拟泥石流的分层次相似性试验设计体系,可以确保模型和原型中泥石流运动学与动力学参数绝对值和相对值的一致,从而可以系统性地还原泥石流原型问题的物理过程。同时,针对对模拟结果产生较大影响的科里奥利效应和1g自然重力加速度,建议试验设计阶段选择有效旋转半径更大的离心机并适当降低旋转角速度。研究结果对泥石流和碎屑流的小尺度、大尺度物理模拟以及离心机模拟具有理论和技术层面的参考意义。     

Effect of Black Sea bream extracts on cytokine production in lipopolysaccharide-induced inflammation

We investigated the effect of black sea bream extracts on changes in pro-inflammatory and anti-inflammatorycytokines induced by lipopolysaccharide (LPS) in murine splenocytes. The levels of pro-inflammatory cytokines[interleukin (IL)-6, tumor necrosis factor-α (TNF-α), IL-12/IL-23(p40) and IL-17A] and anti-inflammatory cytokines[IL-4, IL-10 and interferon-γ (IFN-γ)] were assessed. Incubation of murine splenocytes with acetone+methylenechloride (A+M) and methanol (MeOH) extracts significantly decreased LPS-induced IL-6, IL-12/IL-23(p40) andIL-17A productions after 6 h incubation (p < 0.05). The A+M and MeOH extracts significantly increased LPS-inducedIL-4 and IFN-γ productions at 48 and 72 h incubation (p < 0.05). Treatment with A+M extract resulted insignificantly higher IL-10 production in splenocytes after 72 h (p < 0.05). Conclusively, black sea bream extracts wereshown to be efficient in falling several pro-inflammatory cytokines while rising anti-inflammatory cytokines. Thus ourresults suggest that black sea bream extracts selectivity modulate immune events.     

Interface properties and phase formation between surface coated SKD61 and aluminum alloys

The intermediate phase formation and surface protection effects between SKD61 die mold alloys and aluminum alloys were investigated during a simulated die-casting process. The surface coatings of SKD61 alloy were carried out via Si pack cementation coatings at 900 °C for 10 h and the -FeSi phase formed. When the coated SKD61 alloy was dipped in the liquid aluminum alloy (ALDC12), the surface coated SKD61 alloys showed better surface properties compared with uncoated SKD61 alloys, i.e., the intermediate phases (FeSiAl compound) were not produced for the coated SKD61 alloy. The coating layer of -FeSi served as a diffusion barrier for the formation of FeSiAl compounds.     

合金材料以及工艺参数对压铸过程中铸件/铸型界面换热系数的影响

采用铝合金ADC12以及镁合金AM50为铸件材料,并采用"阶梯"铸件进行了压铸实验.以压铸过程实际测得的温度作为输入参数,利用自行编制的热传导反算程序计算了压铸过程铸件/铸型间的换热系数.结果表明:不同合金材料对界面换热系数的影响主要表现在换热系数的数值以及保持较高数值所持续的时间上,而对换热系数曲线的形状影响不大;随着高速速度的增大,较薄"阶梯"与铸型之间的换热系数增大;对于较厚"阶梯",随着铸型初始温度的上升,换热系数不断减小.随着铸造压力的增大,最厚"阶梯"与铸型之间换热系数逐渐增大,但铸造压力只在镁合金AM50实验条件下表现出了明显的影响规律.     

Preparation and characterization of DLC/SiO2/Al2O3 nanofiltration membrane

High quality ceramic thin films were fabricated by thin film deposition process in semiconductor field in order to fabricate high performance carbon/SiO ₂ /Al ₂ O₃ membrane. α-Al ₂ O ₃ substrate was used as a supporting material. A severe thermal stress and rough surface for active ceramic top layer such as zeolite were observed. To overcome thermal stress, intermediate layer of SiO₂ and diamond-like carbon (DLC) thin film were used. SiO ₂ and DLC thin films on porous alumina support were deposited using plasma-enhanced chemical vapour deposition (PECVD). Homogeneous and smooth surfaces and interfaces of DLC/SiO ₂ /Al ₂ O ₃ membrane were observed by FESEM. The phases of DLC and SiO ₂ thin films were identified by X-ray diffraction pattern. Gas permeabilities of the nanofiltration membrane with DLC/SiO ₂ /Al ₂ O ₃ were observed at various annealing temperatures. Mixed gas permeability of the membrane with 1 μm-thick SiO₂ and 2 μm-thick DLC thin film annealed at 200 °C was ～18 ccm at 1018 mb back pressure.     

Microstructure evolution and mechanical properties of Ti-B-N coatings deposited by plasma-enhanced chemical vapor deposition

Ternary Ti-B-N coatings were synthesized on AISI 304 and Si wafer by plasma-enhanced chemical vapor deposition (PECVD) technique using a gaseous mixture of TiCl4,BCl3,H2,N2,and Ar.By virtue of X-ray diffraction analysis,X-ray photoelectron spectroscopy,scanning electron microscope,and high-resolution transmission electron microscope,the influences of B content on the microstructure and properties of Ti B N coatings were investigated systematically.The results indicated that the microstructure and mechanical properties of Ti-B-N coatings largely depend on the transformation from FCC-TiN phase to HCP-TiB2 phase.With increasing B content and decreasing N content in the coatings,the coating microstructure evolves gradually from FCC-TiN/a-BN to HCP-TiB2 /a-BN via FCC-TiN+HCP-TiB2/a-BN.The highest microhardness of about 34 GPa is achieved,which corresponds to the nanocomposite Ti-63%B-N (mole fraction) coating consisting of the HCP-TiB2 nano-crystallites and amorphous BN phase.The lowest friction-coefficient was observed for the nanocomposite Ti-41%B-N (mole fraction) coating consisting of the FCC-TiN nanocrystallites and amorphous BN phase