基于ZMP的双足机器人稳定性分析

引入双足机器人研究中一个重要物理量——零力矩点ZMP（zero Moment Point）,研究其计算和测量方法,利用其分析双足机器人在单腿和双腿支撑时的作用范围,最后在二维和三维平面内对机器人的ZMP计算进行探讨,为稳定步态的设计做了理论铺垫。     

Renewal strategies for old industrial areas in the post-industrial age—Take “Zurich-West” in Switzerland as an example

This paper introduces and analyses the renewal planning of “Zurich-West”, an old industrial area. It points out that systematic and comprehensive target orientation, extensive collaboration in argumentation and decision-making, and the design ideas of coexistence and integration are the key to its success. Considering the status quo of China’s old industrial district remodeling, the paper offers some suggestions. Supported by the National Natural Science Foundation of China (Grant No. 50878045)     

Discrimination for ablative control mechanism in solid-propellant rocket nozzle

The ablation in solid-propellant rocket nozzle is a coupling process resulted by chemistry, heat and mass transfer. Based on the heat and mass transfer theory, the aero-thermo-dynamic, and thermo-chemical kinetics, the thermal-chemical ablation model is established. Simulations are completed on the heat flow field and chemical ablation in the nozzle with different concentrations, frequency factors and activation energy of H2. The calculation results show that the concentration and the activation energy of H...     

气升式内环流反应器中油滴的分散特性

本文研究了气升式内环流反应器中油滴的分散特性。以对数正态分布密度函数为油滴尺寸的分散模型,导出了油滴的Sauter平均直径解析式。对模型作了实验验证,关联了模型参数。提出了油滴的尺寸分布密度函数和Sauter平均直径的半经验式。结果表明计算值与实验值吻合良好。     

色谱顶空法测活度系数及对三元极性体系液液平衡预测

用气相色谱顶空分析法测定 18组部分互溶三元极性体系在完全互溶区的 3个组分活度系数 ,由此拟合出 U NIQU AC过量自由焓模型参数 ,再用 U NIQUAC方程预测液液平衡。这一方法曾很好地用在水-正烷烃 -醇体系。将此法拓展到含醇、酮、酯 ,醚、卤烷烃和水等多种极性组分的三元体系液液平衡的预测 ,其结果与文献的液液平衡数据比较 ,平均均方根误差 1.4 1% ,表明本法对含极性组分的体系仍然可行     

丁二烯在Ni（naph）2—n—C4H9Li—BF3.OEt2催化体系中的引发聚合

本文报道Ni(naph)_2-n-C_4H_9Li-BF_3·OEt_2催化体系对丁二烯的聚合活性.发现.只有Ni(naph)_2与n-C_4H_9Li二元陈化方式有较好的聚合活性.聚合物的特性粘度[η]和5％苯乙烯的动力粘度(η_(c.p)均低.顺式-1,4结构含量约为94％.几乎不生成凝胶。     

钯－银合金膜分离氢气的研究

采用厚为５０μｍ的Ｐｄ／Ａｇ（２３）合金膜进行了氢气渗透系数的测定和Ｈ＿２／Ｎ＿２混和气分离的研究，得出温度、压力、膜厚、进料气流量、膜的预处理和再活化及膜表面中毒等因素对氢气渗透的影响。分离Ｈ＿２／Ｎ＿２混和气可获得高纯氢气。     

纳米管合成研究进展

当今纳米科学技术飞速发展，其中纳米管已构成了纳米材料的一个非常重要的类别。本文介绍近几年来由化学键结合的纳米管以及由分子间力形成的一些纳米或具有中观尺度的管状结构材料的合成研究进展。     

Optimization of uncertain acoustic metamaterial with Helmholtz resonators based on interval model

Uncertainties existing in the acoustic metamaterial may strongly affect its unusual properties. Aiming at this actuality, the interval model is introduced to treat with uncertainties existing in the acoustic metamaterial with Helmholtz resonators. Frequency intervals in which the sound intensity transmission coefficients are certainly less than the required value and the effective bulk moduli are certainly negative are defined as conservative approximations. Frequency intervals in which the sound intensity transmission coefficients may be less than the required value and the effective bulk moduli may be negative are defined as unsafe approximations. The proportion of the conservative approximation and the unsafe approximation is defined as an approximate precision. Based on the quantification of uncertainties of the sound intensity transmission coefficients and the negative effective bulk moduli, an optimization model for the interval acoustic metamaterial with Helmholtz resonators is constructed. Numerical results showed that even suffering from effects of interval parameters, unusual properties of the optimized acoustic metamaterial (such as the bandgap of the sound transmission and the negative effective bulk modulus) could be improved.     

Evaluation research on applicability of rapid iodide migration test

The applicability of the rapid iodide migration test was systematically studied. Comparative experimental tests of different test conditions, including several external voltages, test durations, concrete ages and mixing proportions, were carried out to make clear the transport behaviors of iodide under parallel electric fields. Numerical simulations were also done using the finite element method to found the correlation between chloride and iodide transport behaviors. The test and numerical results show that the chloride transport behaviors of RIM and RCM tests have a good correlation under the several conditions used in the present paper. Moreover, the influence of external conditions （external voltages, test durations） on the test results is small. Thus, it can be concluded that the RIM method is available to determine the chloride penetration resistance of the chloride-eroded structural concrete.