基于区域权函数理论的多电极电磁流量计电极设计

基于Shercliff权函数提出区域权函数概念,设计多电极电磁流量计,通过测量管道截面不同位置的弦端电压,计算各区域的轴向平均速度,实现速度分布与体积流量的测量。着重研究了流量计电极设计,选取不锈钢平头方案的多电极电磁流量计,对于阀门下游的非轴对称单相流体积流量测量精度高于±1.0%,倾斜管固—液两相流实验证明:该设计对于两相流非轴对称的速度分布测量具备可靠性。     

镀液流速对碳化硅微粒与铜共沉积的影响

本文利用易于控制流速的旋转圆盘电极研究了SiC微粒与Cu的共沉积。得出了在不同镀液流动速度下镀得的复合镀层中微粒含量与镀液中微粒浓度以及与电流密度之间的关系曲线,进而探讨了镀液流速对Cu-SiC共沉积的影响。镀液流速通过影响微粒与阴极之间的弱吸附影响微粒在阴极表面的停留,从而对Cu-SiC复合电沉积过程产生很大影响。     

Voidage characteristics and prediction of bed expansion in liquid-solid inverse fluidized bed

Studies on voidage fluctuations, axial voidage profile and bed expansion are carried out by measuring the local void fraction using particles of wide ranging characteristics in liquid-solid inverse fluidized bed. The quality of fluidization is elucidated by the local voidage fluctuations. The RMS voidage fluctuation depicts a maximum with respect to average bed void fraction and increases with increase in Archimedes number. The fluidization quality has been quantified using average normalized RMS voidage fluctuation in terms of Transition number. The axial void fraction is almost uniform throughout the bed except for particles with size distribution. All the literature and present experimental data on bed expansion are unified in terms of Richardson and Zaki equation using experimental terminal velocities. A new correlation is proposed for predicting the wall effect corrected experimental terminal velocities, as a substitute for standard drag equation. The bed expansion data are also predicted using the drift flux model.     

基于似人特性的机器人拟人臂自主抓取动作规划

针对拟型服务机器人在家庭环境中的自主抓取任务,提出了一种强调运动姿态似人特性的机器人手臂动作的运动规划方法.该方法基于人体工程学中的快速上肢评估准则评价机器人运动姿态的似人特性,并在此基础上以机器人传速速率最优为目标规划机器人持物动作的姿态构型.最后以Motoman SDA10D拟人双臂机器人为例,具体介绍了该方法的应用和规划的结果,规划结果证明了该方法的可行性和有效性.     

A型地铁空调系统及客室内流场数值分析

为给目前国内A型地铁车辆的舒适度设计提供理论参考,针对地铁车辆静压风道结构特点,基于k-ε两方程湍流模型和SIMPLE算法,建立包含空调送风风道和客室的三维计算模型.对计算模型的空气流动和传热状况进行CFD数值计算.计算过程综合考虑车体壁面传热和人体散热等多种传热.分析计算结果得到客室内温度场和速度场的分布规律,并对空调通风设计方案进行量化评估.计算结果表明:客室内人体头部区域温度场分布均匀,平均温度为26.6℃,最大温差为6℃;车厢内有较理想的气流组织形式,速度分布范围为0.50~0.79 m/s,而且客室端部和中部区域人体头部周围速度较大.将计算结果与欧洲EN 14750-1标准进行对比分析,认为乘客的舒适性较好.     

Finite-time consensus of multiple second-order dynamic agents without velocity measurements

This article considers the finite-time consensus of multiple second-order dynamic agents without velocity measurements. A feasible protocol under which each agent can only obtain the measurements of its position relative to its neighbours is proposed. By applying the graph theory, Lyapunov theory and the homogeneous domination method, some sufficient conditions for finite-time consensus of second-order multi-agent systems are established under the different kinds of communication topologies. Some examples are presented to illustrate the effectiveness of the theoretical results.     

Propagation of the Chain Explosive‐Decomposition Reaction in Silver Azide Crystals

The velocity of the chain explosivedecomposition reaction in silver azide whiskes has been measured (1500 m/sec). The measured velocity is identified as the propagation velocity of the diffusion front of holes generated in the course of explosive decomposition.     

Sliding‐Mode Velocity Control of a Two‐Wheeled Self‐Balancing Vehicle

Underactuated vehicles are those in which the number of control inputs is less than the degrees of freedom to be controlled. Using actuated wheels, velocity control of the two‐wheeled self‐balancing vehicle drives the vehicle at a desired speed and balances the body of the vehicle. First, we investigate the effects of friction on the wheel and derive the hybrid model of rolling and slipping. Second, we propose a nonlinear sliding mode velocity control scheme for the pure rolling model of the two‐wheeled vehicle. We present the design of the corresponding sliding surfaces and internal dynamics of the two‐wheeled vehicle. Our stability analysis reveals that the proposed sliding mode method can guarantee the asymptotic stability of the error dynamics for velocity control of the underactuated vehicle. Compared to linear optimal control, our numerical simulations demonstrate that the proposed sliding mode schemes can effectively control the velocity under the circumstances of parametric variations, emergency braking, and rapid acceleration in slippery road conditions. The proposed velocity control and the simulation improve our understanding on designing velocity control of the two‐wheeled self‐balancing vehicle.     

淤浆鼓泡床中固体粒子的悬浮特性

研究了三相鼓泡床中的临界固含率,以空气作气相,水、乙醇-水、丙酮-水、萜松醇-二甲苯作液相,石英砂、煤、雷奈镍作为固相。分析了鼓泡柱的高径比、气体速度、固体粒子的大小和比重、液体的粘度对临界固含率的影响,提出了含有这些参数的无因次数群的关联式,讨论了本文提出的关联式和文献报导的差别。     

呼吸感应体积描记系统中弱信号锁相放大模块的设计

在呼吸感应体积描记呼吸测量系统中,需要测量nV~μV级的微弱感生电压信号,而且在测量过程中,做为传感器的电感线圈容易受到测量环境,呼吸运动以外的其他运动和电子噪声等影响。为适应系统测量范围并降低噪声的影响,设计了一种基于AD630锁相放大电路微弱生理信号检测模块。该模块的锁相放大器具有大于0.96的良好线性度,能检测出传感器的感生电压信号,并分离出直流分量,有效地降低噪声对系统的影响,提高了系统测量的精度,并有望应用于其他微弱生理信号检测。