Improved Algorithm for Solving Inverse Kinematics of Biped Robots

Mobile Networks and Applications - Inverse kinematics is an important basic theory in walking control of biped robot. This study focuses on the parameter setting using the improved algorithm in...     

Approximation Optimal Vibration Control with Applications to Jacket Offshore Platforms with Nonlinear Dynamic Characteristics

International Journal of Control, Automation and Systems - The vibration control problem of offshore jacket platforms is studied. The model of offshore platforms with nonlinear interactions of the...     

深部松软煤层钻孔孔周煤体变形产渣特征研究

针对煤矿井下高瓦斯软煤顺层长钻孔排渣困难、成孔率低、施工困难等问题,通过数值模拟实验研究了井下深部软煤体变形破坏特征,分析了顺层长钻孔孔周松软煤体变形特征及应力变化,以揭示顺层长钻孔孔周松软煤体变形产渣规律。研究表明:深部高瓦斯软煤顺层钻孔孔周煤体的应力平衡临界条件破坏后将发生大体积突然垮落;钻孔水平最大变形位移为1.22mm,垂直方向最大变形位移为10.7mm;径向孔周煤体垂向变形呈现逐渐减小趋势,且垂向变形明显大于钻孔水平变形。在水平方向上,钻孔孔周煤体应力分布呈现先增大再逐渐减小的变化规律,径向距离对水平应力分布的影响逐渐减小;随着径向距离的增加,钻孔孔周煤体应力分布逐渐降低,钻孔孔壁处煤体的应力出现最大值,且垂直方向处应力值最大。     

核桃雄花中总多酚提取工艺的研究

采用单因素和正交试验研究核桃雄花中多酚类物质的最佳提取工艺条件。通过对4种不同溶剂(无水乙醇、甲醇、丙酮和乙酸乙酯)在相同试验条件下的浸提效果比较发现,甲醇是核桃雄花中总酚类物质的最佳提取试剂。然后分别采用常规水浴浸提法和超声波辅助浸提法对甲醇体分数、浸提温度、浸提时间和料液比等因素进行研究,在确定最佳单因素水平的基础上,再利用正交试验优化以甲醇为浸提剂的提取工艺条件,试验得出超声波辅助浸提法具有用时短、总多酚提取量高的优点,其最佳工艺条件为:料液比1∶30(g/m L)、甲醇溶液体积分数30%、温度70℃、浸提时间10 min。在此条件下,核桃雄花中的总多酚含量可达6.56%,明显高于其他条件下的。     

Hierarchical electromagnetic absorption in micro-waveguide stuffed with magnetic media for resin-based composites of graphene nanosheets and manganese oxides

Waveguide configurations of hierarchical system are proposed as new microstructures for composites in absorbing enhancement. Supercritical fluid (SCF) one-pot exfoliation of layered graphite and manganese oxide mixing materials is developed to obtain a hierarchical system, containing graphene nanosheets (GNS) and exfoliated manganese oxides (EMO) in different sizes. Composites with GNS–EMO embedded in epoxy resin matrix are produced for a design of dielectric and magnetic loss integrated absorber. Volume fraction of GNS–EMO in composites is given for an optimal quantity of resin epoxy in fixation and formation. The effect of mixing ratios between electric and magnetic components is provided for the design of dielectric and magnetic loss integrated absorbers. Frequency shifting phenomena are revealed in the component adjusting course. Excluding the offsetting sizes, reflection loss of composites is enhanced as thickness increases. Synergistic effect of electric and magnetic coordinated materials demonstrates the superiority of micro-waveguide structures in GNS–EMO composite absorber.     

A novel quasi-oppositional harmony search algorithm and fuzzy logic controller for frequency stabilization of an isolated hybrid power system

The intermittent wind power in isolated hybrid distributed generation (IHDG) may cause serious problems associated with frequency (f) and power (P) fluctuation. Energy storage devices such as battery, super capacitor, and superconducting magnetic energy storage (SMES) may be used to reduce these fluctuations associated with f and P. This paper presents a study of IHDG power system for improving both f and P deviation profiles with the help of SMES. The studied IHDG power system is consisted of wind turbine generator and diesel engine generator. Both f and P control problems of the studied power system model are addressed in presence or absence of SMES. Fuzzy logic based proportional–integral–derivative (PID) controller with SMES is used for the purpose of minimization of f and P deviations. The different tunable parameters of the PID controller and those of the SMES are tuned by a novel quasi-oppositional harmony search algorithm. Performance study of the IHDG power system model is carried out under different perturbation conditions. The results demonstrate minimum f and P deviations may be achieved by using the proposed fuzzy logic based PID controller along with SMES.     

纳米氧化物对水泥基料化学收缩的影响

采用ASTM化学收缩试验方法,研究纳米SiO2、MgO、Al2O3对水泥基材料化学收缩变化的影响,明确纳米材料种类的差异性。结果表明,各实验组水泥基材料化学收缩均经历三阶段:急速变化区、缓慢变化区、平稳区,7d始水泥基材料化学收缩基本稳定。几种纳米材料的最佳掺量对水泥基材料的化学收缩改善作用大小为:SiO2>Al2O3>MgO。研究发现,纳米材料种类和掺量的不同对化学收缩的影响也较大,在选用时,需综合考虑。     

Fabrication and microwave absorption properties of magnetite nanoparticle–carbon nanotube–hollow carbon fiber composites

Absorbents with “tree-like” structures, which were composed of hollow porous carbon fibers (HPCFs) acting as “trunk” structures, carbon nanotubes (CNTs) as “branch” structures and magnetite (Fe₃O₄) nanoparticles playing the role of “fruit” structures were prepared by chemical vapor deposition technique and chemical reaction. Microwave reflection loss, permittivity and permeability of Fe₃O₄–CNTs–HPCFs composites were investigated in the frequency range of 2–18 GHz. It was proven that prepared absorbents possessed the excellent electromagnetic wave absorbing performances. The bandwidth with a reflection loss less than −15 dB covers a wide frequency range from 10.2 to 18 GHz with the thickness of 1.5–3.0 mm, and the minimum reflection loss is −50.9 dB at 14.03 GHz with a 2.5 mm thick sample layer. Microwave absorbing mechanism of the Fe₃O₄–CNTs–HPCFs composites is concluded as dielectric polarization and the synergetic interactions exist between Fe₃O₄ and CNTs–HPCFs.     

Yolk–shell structured iron carbide/N-doped carbon composite as highly efficient and stable oxygen reduction reaction electrocatalyst

We report a simple route to synthesize iron carbide/carbon yolk–shell composite via a facile two-step process including polymerization of pyrrole using Fe₃O₄ as a sacrificial template to form a Fe₃O₄/polypyrrole composite, followed by annealing at high temperature in N₂ atmosphere. The yolk–shell composite, with iron carbide (Fe_2.5C) embedded in nitrogen-doped carbon layers, shows impressively high catalytic activity and stability for oxygen reduction reaction in alkaline solution. Both the pyridinic-N and graphic-N in the shell of Fe₃O₄–PPy-700, together with the Fe_2.5C confined in carbon layers are believed to be the active sites for the ORR.