How to Control Robots Interacting with Dynamic Environment

The goal of this paper is to shed light on the control problem of constrained robot motion from the aspect of the dynamical nature of the environment with which the robot is in contact. Therefore, the criticism of traditional hybrid control which allows position/force feedback loops to split into independent control with respect to position and force, is not the main point we want to make. Reference to the papers written by the founders of hybrid control and their numerous followers served only to better understand the reason and motivation for suggesting a different approach to control of robots interacting with environment.The paper has a predominantly review character, based on recently published work. It also contains some new, unpublished results in the framework of the unified approach to the position/force control of robots, proposed by the present author and his co-workers. By pointing to the possibility of introducing an environment dynamics in the contact tasks of the machining type, the author emphasizes that the proposed dynamically interactive control can be applied to a completely different class of tasks, in which a contact is made between the system (constructions or structure) and very specific kinds of dynamic environments.     

有机EL的稳定性和寿命

介绍了有机ＥＬ在稳定性及寿命方面的最新研究动态，着重描述了器件功能层组合的相互接触、阴极、空穴传输层玻璃化温度和驱动条件等对有机ＥＬ稳定性和寿命的影响。     

单元系T—p相图的数学结构

作者以化学元素的稳定单质为基准,推演出了任意物质M_i(相态Ω)的热力学生成活度{相态Ω)的函数形式:?D_Ω数值的大小体现着相态Ω的热力学相对稳定性.根据集合论原理沿D(稳定性)座标取极大值的方法把物理性质互不连续的各个异相态连结在一起,建立了单元系在T-p面上的优势分布方程(PSDE):■作者以H_2O为实例,计算了T-p相图,与实验相图基本一致.     

Two-level optimal output feedback stabilizer design

The paper addresses the design of two-level power system stabilizers using an optimal reduced order model whose state variables are torque angles and speeds. The reduced order model retains their physical meaning and is used to design a two-level linear feedback controller that takes into account the realities and constraints of electrical power systems. The two-level control strategy is used, and a global control signal is generated from the output variables to minimize the effect of interactions. The effectiveness of this controller is evaluated and a multimachine system is given as an example to illustrate the advantages of the proposed method. Responses of the system with a two-level scheme and an optimal reduced order scheme are included for comparative analysis.     

门式脚手架在已建高层建筑外装修中的应用

介绍门式脚手架在已建高层建筑外排栅中的整体搭设和应用实例。     

DG抗高温隔离液在古深1井的应用

古深1井是大庆油田在古龙地区的一口风险探井,设计井深5 500 m,实际完钻井深为4 739 m。钻进过程中,多次出现塌、漏、卡等事故,造成井径不规则。为平衡压力,压稳地层,更好地隔离钻井液和水泥浆,提高顶替效率,设计采用DG抗高温隔离液。DG抗高温隔离液抗高温可达150℃,密度调节范围宽,抗高温悬浮稳定性好,失水量少,与水泥浆和钻井液相容性好。古深1井采用双级注水泥工艺,固井施工过程十分顺利,隔离液密度均匀,泵送容易,无发泡现象。从声幅测井情况来看,水泥面上部与隔离液交界处界面清楚,水泥环胶结良好,水泥返高达到了设计要求,混浆过渡段短,固井质量合格。     

重油纳米化助燃效果研究与表征

将复配的分散剂加入重油中制备得到重油纳米颗粒，采用氧弹热值对比法对所研制的纳米化重油进行实验室评价。研究结果表明，纳米化后的重油燃烧性能得到了改善，在掺水量为3％～12％时，重油的燃烧效率提高了2．5％～6．1％。通过TEM观察，纳米化后的重油呈水包油（O／W）型乳液结构，油水界面清晰，界面膜较厚，乳化油粒径约为20～50nm，油水分散均匀，并且分散后的重油粘度增幅小，掺水量在15％以内，粘度增幅不超过20％，并且随着掺水量的增加，乳化重油的粘度逐渐减少。另外，乳化重油稳定性好，室温下至少可保存6个月，在80℃下存放3天未发生破乳现象。     

残留奥氏体对1500MPa级新型低碳Mn-Si-Cr系合金钢冲击韧度的影响

15 0 0MPa级无碳化物贝氏体 马氏体复相钢的第一类回火脆性开始温度高于 36 0℃。实验表明 ,这并非由于贝氏体 马氏体复相韧化 ,而是与无碳化物贝氏体中的膜状残留奥氏体有关。无碳化物贝氏体中机械稳定性较高的残留奥氏体可能是导致无碳化物贝氏体 马氏体复相钢第一类回火脆性开始温度升高的直接原因。     

关于成都膨胀土地区边坡稳定性的探讨

成都市三环路建设中 ,膨胀土边坡稳定性研究是大家关心的重要课题。膨胀土边坡土体中的吸力变化直接影响到其稳定性 ,参照“人工神经网络技术”中的吸力经验公式 ,以三环路东一B标段的路堤边坡为例 ,采用“条分法”进行预测分析 ,并有针对性地进行防护处理取得了较好的效果。     

加氢润滑油基础油光安定性研究进展

加氢处理基础油与溶剂精制基础油相比具有硫、氮含量低，颜色浅，粘度指数高，挥发性低，饱和烃含量高，对添加剂的感受性好等优点。但是，加氢处理润滑油基础油的一个明显缺点就是其光安定性差，即在有氧条件下通过光照（有时也需加热），油品颜色加深、透明度变差，继而有絮凝物或沉淀生成。文章综述了国内外有关加氢润滑油基础油光安定性的原因和解决办法的研究进展情况。