Real-time accurate hand path tracking and joint trajectory planning for industrial robots (I)

Previously, researchers raised the accuracy for a robot’s hand to track a specified path in Cartesian space mainly through increasing the number of knots on the path and the number of the path’s segments, which results in the heavier online computational burden for the robot controller. Aiming at overcoming this drawback, the authors propose a new kind of real-time accurate hand path tracking and joint trajectory planning method. Through selecting some extra knots on the specified hand path by a certain rule and introducing a sinusoidal function to the joint displacement equation of each segment, this method can greatly raise the path tracking accuracy of robot’s hand and does not change the number of the path’s segments. It also does not increase markedly the computational burden of robot controller. The result of simulation indicates that this method is very effective, and has important value in increasing the application of industrial robots. Foundation item: Foundation of the Robotics Laboratory, Chinese Academy of Sciences (No. RL200002) Biography of the first author: TAN Guan-zheng, Dr., professor, born in Oct. 1962, majoring in artificial intelligence, robotics and automation.     

Analysis of a Novel Flux-Weakening Structure of High-Speed Permanent-Magnet Motors Based on Soft-Magnetic Ferrite

Soft-magnetic ferrite has advantages of high initial magnetic permeability, high electric resistivity, low loss and low cost in the high-frequency alternating field. Considering the characters of soft-magnetic ferrite, this paper uses a soft-magnetic ferrite ring as stator core and presents a novel field-weakening structure of high speed PM motors. Based on this structure, a novel field-weakening method of PM motors can be presented. The equivalent reluctance of permanent magnetic field circuit can be changed by altering saturation degree of soft-magnetic ferrite core in this method. For the convenience of analysis and calculation, considering the magnetic field distribution in the motors, this paper deduces an equivalent two-dimensional finite element model of three-dimensional magnetic field, by which the field-weakening parameters of high speed PM motor can be conveniently analyzed. The simulation results of finite element model prove: the field-weakening structure of high speed PM motor based on soft-magnetic ferrite, presented in this paper, is valid and feasible, offers a valid and applicative method for field-weakening control of high speed PM motor.     

Nitrogen plasma modification of viscose-based activated carbon fibers

Viscose-based activated carbon fibers (VACFs) were treated by a dielectric-barrier discharge plasma at different conditions. Nitrogen was used as the feed gas to create nitrogen radicals. The textural characteristics were analyzed by SEM, BET and XRD. The surface chemical functional groups were analyzed by XPS. The results show that after nitrogen plasma modification (NPM), the external surface of the VACFs was etched and became rougher, the surface area and pore volume decreased, the average micropore width barely changed, the PSD of the VACF became narrower and the graphitic crystallites of VACF had been destroyed slightly. XPS revealed that NPM could remarkably change the distribution of the oxygen functional groups on the VACFs surface and there were more nitrogen atoms incorporated into the aromatic ring. A tentative explanation for the modification process is proposed.     

Treatment of slices from carrot (<Emphasis Type="Italic">Daucus carota</Emphasis>) using high intensity white pulsed light

Experiments with washing of carrot slices using distilled water and 0.9% (w/w) NaCl in combination with varying number and pulses of high intensity white were carried out. Slices of carrot 3.5 cm in diameter and 2 mm thick were inoculated using diluted dispersions of yeasts (Saccharomyces cerevisiae) for varying time (0–240 min) and then the slices were treated with high intensity pulsed white light (one pulse = 0.7 J/cm²) using from none to 24 pulses. The major part of the yeast cells were killed using two pulses of light. The studies included washing of inoculated slices up to five times using salt 0.9% (w/w) NaCl and distilled water and inoculation at 22 °C for between 5 and 120 min. It was concluded that treatment of carrot slices with high intensity white light may reduce the load of yeast cells with up to 6 log cycles. Inoculation time at 22 °C had no effect on the maximum load of yeast cells.     

Accumulation and Mixing of Oils in Jinghu Sag of Subei Basin： Constraints from Thermal Maturity Parameters

Oils in Jinghu sag are abundant with high content of polar compounds and have a low ratio of saturate to aromatic hydrocarbons and a high ratio of resin to asphaltene. The gross composition of oils in the Jinghu sag suggests typical immature to low mature characteristics. Some compounds with low thermal stability were identified. Light hydrocarbons, a carbon preference index, an odd even index, n-alkane and hopane maturity parameters show mature features and little differences in the maturity level among oils. Sterane isomerization parameters indicate an immature to low mature status of oil. Transfer of the sedimentary center during sedimentation has led to different thermal histories among subsags and thus generated oils with different maturities. On the basis of source analyses, four migration and accumulation patterns with different maturity can be classified. Combined with available information on mergers of source, reservoir and long distance oil lateral migration, mixing conditions were present in the Jinghu sag. Experimental results indicate that maturity variations are caused by mixtures of hydrocarbons with different maturity.     

Electrochemical properties of nanodiamond powder electrodes

Detonation-synthesized nanocrystalline diamond is a novel carbon material. Its increased electrical conductivity, due to the features of giant specific surface area and large numbers of surface defects as well as the cluster structure, makes it possible to be used as an electrode material. Nanodiamond powder electrodes were fabricated and the electrochemistry was investigated by cyclic voltammetry and AC impedance measurement. The results show that nanodiamond powder electrode is electrochemically stable in KCl electrolytes over a wide potential range (− 1.2–2.0 V). The electrode reaction is quasi-reversible in 0.1 M KCl containing the ferricyanide–ferrocyanide redox couple. The electrode reaction rate constant k is estimated to be 2.87 × 10^− 3 cm/s. The peak current increases linearly with the rising of the concentration of [Fe(CN)₆]^3−/4−. The AC impedance spectra have been analyzed and an equivalent circuit proposed.     

高炉喷吹废塑料燃烧动力学研究

为了提供高炉喷吹废塑料新技术工业化应用的理论依据，通过对其动力学参数的求解，研究了高炉喷吹废塑料的燃烧动力学，得出了该燃烧反应是一级反应，且在温度为200℃、塑料配比为20％～25％时活化能最低、燃烧阻力小的结论。     

地面无线三维定位系统

本文介绍了一种地面无线三维定位系统,说明了其结构、功能、硬件、软件及其实现。采用信息广播机制的无线三维定位方法,实现独立网络支持下的具有分层结构的建筑区域中的移动人员的无线三维定位,可应用于大型、中型、小型等各类系统中。     

整体开启阀微型压电泵实验研究

介绍一种由整体开启阀构成的压电泵的结构,对这种整体开启阀进行了有限元分析并与悬臂梁阀作比较。制作了三种阀片并分别制作了样机。通过对样机的性能测试及实验数据分析发现,阀片的弹性系数、腔体高度、驱动电压和工作频率等因素对压电泵性能影响较大,且该结构泵在低频时工作情况较好,在150 V、100 Hz下,所测试的样机输出压力达26 kPa。     

Research on better use of wood for sustainable development: Quantitative evaluation of good tactile warmth of wood

Wood is a prospective material against the problems of mineral resource shortage and global warming from the viewpoint of sustainable development. The continuous cycle of felling, planting and growing of trees is essential prerequisite for sustainability. The engineering evaluation of advantages of wood can increase its use more widely as a substitute for other industrial materials and save the finite mineral resources. The increase of wood use can support the continuous cycle for the sustainable forestry as an industry. This paper treats good tactile warmth of wood as one of its advantages. The relationship between contact surface temperature and thermal effusivity is derived from the theoretical analysis of governing heat transfer phenomenon on tactile warmth. Some knowledge on tactile warmth of wood is reviewed with these physical properties. The sensory tactile warmth of wood has a high and positive linear correlation with the logarithm of the contact surface temperature. The materials with lower thermal effusivity feel warmer than the ones with higher thermal effusivity. The relationship between contact surface temperature and thermal effusivity explains rationally why each wood has a large difference of tactile warmth in spite of their small difference of material properties. It also explains the reason why wood has good tactile warmth regardless of seasons against metals, which feel too hot in summer and too cold in winter to touch. The contact surface temperature and the thermal effusivity are proposed as engineering measures to evaluate the tactile warmth of wood and other materials.