Tactile display with tangential and normal skin displacement for robot-assisted surgery

This paper proposes a tactile display providing both shear and normal feedback to the fingertip for generating three-axis tactile feedback during teleoperation of a surgical robot. The display is composed of five balloons actuated by controlling the pneumatic pressure. The implemented display is 18?mm?×?18?mm?×?15?mm. This size is suitable for mounting the display onto the master controls of a surgical robot. The maximum normal and shear displacements are 2 and 1.3?mm, respectively. The proposed tactile display may provide perceivable stimuli to a human finger pad in all five directions: normal, distal, proximal, radial, and ulnar. This paper also reports on the results of psychophysical measurement of the minimum perceivable movement of the developed tactile display for each of the five directions.     

基于AD7884的分离脱落电连接器机械分离力测试台的设计

基于分级型模数转换器AD7884对分离脱落电连接器的分离力进行测量,采用8位单片机W77E58与之接口,进行数据处理并通过485串口传输到上位机。实现了对分离脱落电连接器的分离力进行测量,系统运行稳定,且与上位机数据交互简单、可靠。     

浅析SRT-Ⅳ裂解炉炉管弯曲及断裂原因

主要分析计算了裂解炉炉管受力情况，进而得出结论：裂解炉自身结构的相互约束力和炉管渗碳是导致炉管弯曲、断裂的主要原因，并提出了相应的解决措施。     

六维腕力传感器非线性正解耦方法设计

多维力传感器利用其多个转换单元完成测量加载于其结构上未知负载的作用效果,解耦是其设计的重要组成部分。针对传统静态线性解耦方法的不足,试图将传统线性解耦方程扩展为多项式结构,受其多元高次方式通解形式的启发,构造了一种多项式非线性静态正解耦方程,该方法无需传统线性解耦方法中的曲线拟合、逆解,不依赖以系统是线性为前提,且方程可以扩展成任意结构的多项式。实验结果表明:该方法能降低输出耦合误差。     

Hydrodynamic drag forces on two porous spheres moving along their centerline

This paper numerically evaluates the hydrodynamic drag force exerted on two highly porous spheres moving steadily along their centerline (sphere #1 and sphere #2) through a quiescent Newtonian fluid over a Reynolds number ranging from 0.1 to 40. At creeping flow limit, the drag forces exerted on both spheres were identical. At higher Reynolds numbers the drag force on sphere #1 was higher than sphere #2, revealing the shading effects produced by sphere #1 on sphere #2. At dimensionless diameter (β, =d_f/2k^0.5, d_f and k are floc diameter and interior permeability, respectively) >20, the spheres can be regarded nonporous. At β<20, the drag forces dropped. At β<2, the drag forces approached “no-spheres” limit. An increased size ratio of two spheres (d_f1/d_f2) would increase the drag force on sphere #1 and reduce that on sphere #2. At increasing β for both spheres, the drag force on sphere #2 was increased because of the more difficult advective flow through its interior, and at the same time the drag was reduced owing to the stronger wake flow produced by the denser sphere #1. The competition between these two effects leads to complicated dependence of drag force on sphere #2 on β value. These effects were minimal when β became low. Two identical spheres could move steadily along their centerline. At higher Reynolds number, the two spheres would move closer because of the incorporation of inertia force. For spheres of different diameters, the sphere # 2 would move faster than sphere #1 regardless of their size ratio and β value. This occurrence yielded efficient coagulation when two porous spheres were moving in-line.     

电动汽车机电复合制动力分配策略研究

为了实现再生制动力与机械制动力在驱动轮和从动轮之间的优化分配,在保证车辆制动安全的同时提高能量回收效率,将汽车理想制动力分配I曲线与模糊算法相结合,提出一种基于模糊控制的电动汽车机电复合制动力分配策略。设计了电动汽车再生制动力分配模糊控制器,根据车辆工况与理想制动力分配I曲线,计算前后轮上分别应加载的机电复合制动力大小。建立了电动汽车制动系统动力学仿真模型,在此基础上进行仿真分析。最后利用Advisor仿真软件对该分配策略进行回收能量效率测试。结果表明,该分配策略既能保证汽车前后轮的制动力分配按照理想制动力I曲线分布,确保汽车的制动安全;又能有效地实现再生制动能量回收,提高电动汽车的续驶里程。     

容器设计中搅拌装置的轴向力分析

搅拌装置在化工厂中应用很广，在磷肥、钛白粉装置中（15kt/a)使用较多，仅钛白粉装置中就大约有40－50台，如增稠结晶器，中和槽等，搅拌操作所涉及的因素极为复杂，浆叶形式的选择，从力学的观点来说，迄今研究不够，本文就搅拌装置产生的轴向力问题进行了初步研究。     

宽厚板厚度控制模型的优化

宽厚板厚度控制的目的是轧制出板形良好、板凸度小、同板差和异板差尽可能小的产品.莱钢宽厚板生产线自投人生产以来,在板凸度、厚度的均匀性、同板差和异板差等宽厚板厚度控制的瓶颈问题上都难以达到要求.为了实现对轧制厚度的要求,我们在现有的厚度控制模型的基础上,深入理解其控制功能、补偿功能的作用,找到引起厚度难以控制的主要因素,采取轧辊刚度补偿、轧辊偏心补偿、支撑辊油膜厚度补偿、工作辊热膨胀补偿及冲击力补偿等措施来优化厚度控制模型.自优化相应厚度参数和增加相关补偿控制功能以来,宽厚板厚度控制的精度得到很大的提高,具有很高的推广价值.     

The voidage function and effective drag force for fluidized beds

Here, an experimental investigation on the effective drag force in a conventional fluidized bed is presented. Two beds of different particle size distribution belonging to group B and group B/D powders were fluidized in air in a diameter column. The drag force on a particle has been calculated based on the measurement of particle velocity and concentration during pulse gas tests, using twin-plane electrical capacitance tomography. The validity of the voidage function “correction function”, (1−ε_s)ⁿ, for the reliable estimation of the effective drag force has been investigated. The parameter n shows substantial dependence on the relative particle Reynolds number , and the spatial variation of the effective static and hydrodynamic forces. It is also illustrated that, a simple correlation for the effective drag coefficient as function of the particle Reynolds number (Re_p), expressed implicitly in terms of the interstitial gas velocity, can serve in estimating the effective drag force in a real fluidization process. Analysis shows that, the calculated drag force is comparable to the particle weight, which enables a better understanding of the particle dynamics, and the degree of spatial segregation in a multi-sized particle bed mixture. The analogy presented in this paper could be extended to obtain a generalized correlation for the effective drag coefficient in a fluidized bed in terms of Re_p and the particle physical properties.     

Rotordynamic forces generated by discharge-to-suction leakage flows in centrifugal pumps

In order to investigate the flow-induced vibration in the shroud passage of centrifugal pump and predict rotordynamic forces of centrifugal pump rotor system,an analysis of rotordynamic forces arising from shrouded centrifugal pump is presented. CFD techniques were utilized to analyze the full three-dimensional viscous,primary/secondary flow field in a centrifugal pump impeller to determine rotordynamic forces. Multiple quasi-steady solutions of an eccentric three-dimensional model at different whirl frequency ratios yielded the rotordynamic forces. The skew-symmetric stiffness,damping,and mass matrices were obtained by second-order least-squares analysis. Simulation of the coupled primary/secondary flow field was conducted,and the complex flow characteristics in the flow field of a shroud passage were achieved including the mean velocity and pressure,as well as the eddy in a large scale of flow field due to viscosity. The rotordynamic force coefficients were calculated,and the results were in good agreement with those of experiment except for the direct inertial coefficient without the consideration of whirling forces from the impeller primary flow passage.