Robots with increased number of degree-of-freedom with single exciting force

This paper presents the results of the development and investigation of a new class of novel multi-degree-of-freedom robots based on a new concept – the application of kinematic pairs with alternating degree-of-freedom (DOF) controlled by a single force or moment, changing its direction in space. The number of DOF of the kinematic pairs is controlled periodically from 0 to 3, exploiting the dependence of frictional forces on the oscillation in the contact zone of links. The advantages of this new class of robots include significant weight reduction, simple design and control, and specific applications in space robotics and soft robotic spines. In more complicated cases of trunk robots, elastic kinematic pairs are used with a number of DOF controlled by electro- or magneto-rheological fluids with viscosities that change as a result of applied electric or magnetic fields. Expressions for the generalized inertia matrix of the robots with a large number of joints have been derived using the computer algebra technique with the subsequent automatic program code generation. As shown in this paper, such an application could drastically reduce the number of floating point product operations for an efficient numerical simulation of robots.     

致流变体材料的研究及其在军事领域的应用

致流变体是智能材料的一个重要分支,其构成有磁流变体(MR)和电流变体(ER).这种材料可以在外加场强(电场或磁场)作用下,在毫秒级时间内从牛顿流体变为剪切屈服应力较高的粘塑性体,且这种转变可控、连续、可逆,因此,它有着很广阔的应用前景.主要介绍了这种材料的组成、特性和本构关系,并综述了这种材料在军事领域的应用研究和发展前景.     

High-alumina cement production from FeNi-ERF slag, limestone and diasporic bauxite

In this paper the utilization of ferronickel electroreduction furnace (FeNi-ERF) slag for the production of high-alumina cement (HAC) is investigated through laboratory and pilot-scale tests. The process followed consisted of smelting reduction of slag mixtures with low-grade diasporic bauxite and limestone. In the laboratory-scale trials the main process parameters were defined, concerning raw material proportions, kinetics of the reductions and cooling rate of the product. The presence of a carbon-containing iron bath enhances FeO_x reduction from the slag. Products from laboratory tests developed satisfactory compressive strengths relative to those of commercial HAC. According to the results of the laboratory tests, pilot-scale heat treatments were carried out in a 5-t electric arc furnace (EAF) and about 4 t of final mixture were produced.     

AP2/ERF转录因子调控果蔬采后病害的作用研究进展

果蔬在采后贮藏运输过程中易受到各种生理性病害和侵染性病害的胁迫,这些病害极大地缩短了各类水果和蔬菜的货架期。已有研究表明,AP2/ERF转录因子超家族在果蔬响应各种采后病害中起着重要作用,该家族转录因子可参与调控果蔬的生长发育,并对各类生物和非生物胁迫作出响应。为了明确AP2/ERF转录因子对果蔬采后生理性病害和侵染性病害的调控作用,本文对AP2/ERF转录因子及其在果蔬中的分布和数量进行了概述,并阐明了其响应果蔬采后生理性病害和侵染性病害的作用及机理,介绍AP2/ERF转录因子在香蕉、黄瓜、辣椒等果蔬中响应采后病害的研究进展,以期为研究其他果蔬中的AP2/ERF转录因子以及利用AP2/ERF转录因子增强采后果蔬对病害的抗性提供参考。     

聚电解质电流变效应中的Ec及其产生机理的研究

为了深入研究电流变体中电压阀值（Ec)产生的机理,我们设计了一种全新的测试方法－饱和电压法,并用此方法明确地证实了电压阀值（Ecl和Ec2)的存在,同时对此作出了解释,而且,我们还对两种典型的电流变模型在不同电流变体中的适用性作出了定义,计算机模拟的结果分别出了两对应于电压阀值Ecl和Ec2的序参量φ1＝1．5和φ2＝4．5。     

电流变流体隔振器及其隔振性能研究

目前关于电流变流体（ERF）在振动领域的研究主要集中在ERF阻尼器,而对ERF隔振器的研究尚不很深入。针对ERF隔振器目前主要存在的ERF材料特性不理想,元器件结构不合理等问题,本文通过ERF材料工作模式及力学模型理论分析、ERF材料的配制及性能研究,设计了一种ERF隔振器,通过隔振性能实验研究,取得了较好的阻尼控制效果。     

Electrorheological effects of polyaniline‐type electrorheological fluids

Three kinds of particles—polyaniline (PANI), poly(o‐toludine) (POT), and brominated polyaniline (Br‐PANI)—were synthesized. With chlorinated paraffin as a disperse oil, their electrorheological (ER) effects were determined so that the influence of the phenyl substitute group on the ER effects could be considered. POT exhibited the strongest ER effect, whereas the Br‐PANI ER effect was relatively poor. With the concept of polarization, this phenomenon was interpreted. The influence of the antidoping condition on the ER effects was also examined. An optimal antidoping condition was found for each kind of particle. Composite PANI/polyacrylamide (PAAm) and PANI/lithium polyacrylate (PAA‐Li) particles were further prepared by emulsion polymerization. The testing results showed that the composite particles with certain amounts of PAAm or PAA‐Li exhibited good ER effects. The dielectric and conductive behaviors were also determined so that the results could be explained. © 2002 Wiley Periodicals, Inc. J Appl Polym Sci 87: 733–740, 2003     

温度对ERF表观粘度的影响

本文对ＥＲＦ的表观粘度与温度的关系进行了研究。从推导粘温关系的微分表达式入手，对常用的粘温公式进行了分析，对ＥＲＦ在零电场和给定电场下的粘温关系进行了讨论，并用一种ＥＲＦ的粘度在不同的温度下与电场强度的关系曲线来加以对照。     

电流变流体屈服应力极限值初探

该文分析了影响电流变流体屈服应力的各种因素，并应用基于偶极子假设所推出的屈服应力公式算出了电流变流体的屈眼应力极限值。