THROO: a Tracked Hybrid Rover to Overpass Obstacles

In this paper, the design, simulation and experimental tests are presented for THROO: a Tracked Hybrid Rover, which has been developed to Overpass Obstacles. The proposed mobile robot has 3-DOFs and it is capable of straight motion, turning ability and two operations, namely rover-like motion with tracks on flat terrain and walking-like motion with track and legs to overpass obstacles to move on uneven terrain. The leg mechanism is composed of a four-bar linkage, which has been synthesized according to the desired features. In particular, the Burmester problem, which aims at finding the geometric parameters of a four-bar linkage required for a prescribed set of finitely separated poses are solved for the case understudy. Dynamic simulations have been carried out and a prototype has been built. The proposed results show the hybrid rover ability to overpass obstacles, for which size is comparable or greater than the track high.     

Predicting N mineralized in a Georgia Coastal Plain field

The N mineralized from soil organic matter provides an important portion of N available for crop production. The objective of this study was to determine the amount of spatial variability in N mineralization potential in a field and to evaluate three different methods that might be used to estimate this variability. The three methods tested included predicting the N mineralized from surface soil properties as well as from a biological and a chemical procedure. Three soils varying in N mineralization potential were selected for the study from a field in the Georgia Coastal Plain. The N mineralized from these soils was determined by an N balance of unfertilized and cropped plots. The amount of N mineralized could not be reliably predicted from surface soil organic C, although surface soil clay concentration was positively correlated with the N mineralized. The N mineralized that was predicted using mineralization parameters determined by aerobic incubation, adjusted daily for soil water content and temperature, was approximately 50% of the field measurements of N mineralized. The values of NH₄-N extracted with hot 2 M KCl were related significantly to N mineralized in the field (r²= 0.60) and also to the zero order rate constant of mineralization, k₀ (r²= 0.77), determined from the N mineralized in the aerobic laboratory incubation.     

Female sex pheromone components ofHeliothis peltigera (Lepidoptera: Noctuidae)

Ten compounds were found in the sex pheromone glands ofHeliothis peltigera (Schiff) and identified as tetradecenal, (Z)-9-tetradecenal, (Z)-9-tetradecenol, (Z)-9-tetradecenyl acetate, hexadecanal, (Z)-7-hiexadecenal, (Z)-9-hexadecenal, (Z)-11-hexadecenal, (Z)-11-hexadecenol, and (Z)-11-hexadecenyl acetate. Behavioral tests in a wind tunnel and subsequent trapping studies conducted in the field indicated that (Z)-11-hexadecenal and (Z)-9-tetradecenal are the main pheromone components ofH. peltigera. Addition of (Z)-11-hexadecenol to the binary blend did not enhance the capture of males ofH. peltigera, but it decreased the number of males of the sympatricH. armigera. Rubber septa impregnated with a mixture of 2 mg (Z)-11-hexadecenal + 1 mg (Z)-9-tetradecenal + 0.6 mg (Z)-11-hexadecenol are recommended for monitoringH. peltigera. Contribution from the Agricultural Research Organization (ARO), No. 2454-E, 1988 series.     

Processing study of a high temperature adhesive

An adhesive-bonding process cycle study was performed for a polyimidesulphone. The high molecular weight, linear aromatic system possesses properties which make it attractive as a processable, low-cost material for elevated temperature applications. The results of a study to better understand the parameters that affect the adhesive properties of the polymer for titanium alloy adherends are presented. These include the tape preparation, the use of a primer and press and simulated autoclave processing conditions. The polymer was characterized using Fourier transform infrared spectroscopy, glass transition temperature determination, flow measurements, and weight loss measurements. The lap shear strength of the adhesive was used to evaluate the effects of the bonding process variations.     

Development and evaluation of an improved soil test for phosphorus: 1. The influence of phosphorus fertilizer solubility and soil properties on the extractability of soil P

The objective of this work was to develop and evaluate a soil test suitable for estimating the phosphorus status of soils whether they were fertilized with soluble or sparingly soluble P fertilizers or both. Four New Zealand soils of contrasting P sorption capacity and exchangeable Ca content were incubated alone or with monocalcium phosphate (MCP), reactive North Carolina (NC) phosphate rock or unreactive Florida (FRD) rock, at 240 mg P kg^–1 soil, to allow the P sources of different solubilities to react with each soil and provide soil samples containing different amounts of extractable P, Ca and residual phosphate rock. The phosphorus in the incubated soils was fractionated into alkali soluble and acid soluble P fractions using a sequential extraction procedure to assess the extent of phosphate rock dissolution. Eight soil P tests [three moderately alkaline — Olsen (0.5M NaHCO₃) modified Olsen (pretreatment with 1M NaCl) and Colwell; three acid tests — Bray 1, modified Bray 1 and Truog; and two resin tests — bicarbonate anion exchange resin (AER) and combined AER plus sodium cation exchange resin (CER)] were assessed in their ability to extract P from the incubated soils.The 0.5M NaHCO₃ based alkaline tests could not differentiate between the Control and FRD treatments in any soil nor between the Control, NC and FRD treatments in the high P sorption soils. The acid extractants appeared to be affected by the P sorption capacity of the soil probably because of reabsorption of dissolved P in the acid medium. The AER test gave results similar to Olsen. Only the combined AER + CER test extracted P in amounts related to the solubility of the P sources incubated with each soil. Furthermore, when soil samples were spiked with FRD and NC and extracted immediately, the P extracted by the AER + CER test, over and above the control soils, increased with the amount and chemical reactivity of the rocks. There was no extraction of rock P by any of the alkaline extractions.Increases in the amounts of P extracted (P) by each soil test from the fertilized soils, over and above the control soils were compared with the amounts ofP dissolved from the fertilizers during incubation (measured by P fractionation). Soil P sorption capacity had least influence on the amounts of P extracted by the AER + CER and Colwell tests. However, the Colwell test was unable to differentiate between all P sources in all four soils and suffered from the disadvantage of producing coloured extracts. The AER + CER test appeared to have the potential to assess the available P status of soils better than the other tests used because of its ability to extract a representative portion of residual PR (in accordance with the amount and reactivity) and dissolved P, and thus to differentiate between fertilizer treatments in all four soils.     

Effectiveness of cardenolides as feeding deterrents toPeromyscus mice

I compared the feeding responses of five species ofPeromyscus mice (aztecus, polionotus, melanotis, leucopus, andmaniculatus) to three bitter-tasting cardenolides (ouabain, digoxin, and digitoxin) that differ greatly in lipophilic character.Peromyscus, like other muroid rodents, are unusual in that they can ingest relatively large amounts of cardenolides without adverse physiologic effects. In experiment 1, I determined avoidance thresholds for the three cardenolides with 48 hr, two-choice tests. Mice exhibited large interspecific differences in avoidance threshold, and the interspecific ranking of the thresholds (maniculatus=leucopus >melanotis >polionotus >aztecus) was the same for each of the cardenolides. In experiment 2, I reevaluated the avoidance thresholds, but this time monitored the pattern of intake (i.e., bout lengths) during initial feeding encounters with cardenolidelaced diets. For each cardenolide, mice were subjected to three tests. In test 1, they received a control diet; in test 2, a diet containing the cardenolide at a concentration 1 log, unit below the avoidance threshold (as determined in experiment 1); and in test 3, a diet containing the cardenolide at the avoidance threshold concentration. Results were similar across all species and cardenolide types: Bout lengths in tests 1 and 2 were statistically equal, whereas those in test 3 were significantly shorter than those in test 1. The rapid rejection of cardenolide-laced diets in test 3 is consistent with a preingestive (i.e., gustatory) mechanism underlying the avoidance thresholds. I conclude (1) thatPeromyscus species differ substantially in taste sensitivity to cardenolides and that these differences may influence each species' respective ability to eat cardenolide-laced insects; and (2) that a species' relative taste sensitivity to one cardenolide predicts its sensitivity to other cardenolides.     

悬挂式重力补偿系统精密跟踪方法

介绍了一种用于研究空间机器人微重力条件下的工作特性的悬挂系统——悬挂式重力补偿系统,并给出了悬挂模块的动力学模型.通过数值求解与仿真,运用非线性规化求出了一定条件下的最优控制参数;用正交试验寻优、基于时间最优控制的试凑法证明了优化模型的解正确性.该研究为空间机器人地面试验系统模拟微重力环境下精密跟踪运动提供了最优控制方法.     

Evaluation of group effect of pile group under dragload embedded in clay

A simple semi-empirical analysis method for predicting the group effect of pile group under dragload embedded in clay was described assuming an effective influence area around various locations of pile group. Various pile and soil parameters such as the array of pile group, spacing of the piles (S), embedment length to diameter ratio of piles (L/D) and the soil properties such as density (γ), angle of internal friction (φ) and pile-soil interface friction coefficient (μ) were considered in the analysis. Model test for dragload of pile group on viscosity soil layer under surface load consolidation conditions was studied. The variations of dragload of pile, resistance of pile tip and the layered settlement of soil with consolidation time were measured. In order to perform comparative analysis, single pile was tested in the same conditions. The predicted group effect values of pile group under dragload were then compared with model test results carried out as a part of the present investigation and also with the values reported in literatures. The predicted values were found to be in good agreement with the measured values, validating the developed analysis method. The model test results show that negative skin friction of pile shaft will reach 80%–90% of its maximum value, when pile-soil relative displacement reaches 2 mm. Foundation item: Project(50679015) supported by the National Natural Science Foundation of China     

根土复合体应力应变特性的试验研究

以香根草根系为研究对象,将根系与土壤视为一整体,探讨在不同含根量下根土复合体抗剪强度指标的变化规律,应用室内三轴试验的方法研究了根土复合体的应力-应变关系及强度特性,并且比较了素土与含根土的强度特性,以及它们的变形破坏模式。     

The Mechanical Behaviour of Polyimide/Copper Laminates Part 2: Peel Energy Measurements

The mechanical peel behaviour of laminates consisting of polyimide films adhered to copper foil using a modified acrylic adhesive has been studied over a wide range of test rates and temperatures. The laminates were prepared from polyimide films which had been subjected to either a “high-thermal history” or a “low-thermal history” treatment during the production of the film. The measured peel energies of the laminates could be superimposed to give a master curve of peel energy versus the reduced rate of peel test, Ra_T, where R is the rate of peel test and a_T is the time-temperature shift factor. The appropriate shift factors were a function of the test temperature and were mainly deduced from tensile tests conducted on the bulk adhesive. The “high-thermal history” laminates gave higher peel energies and the locus of failure of the laminates was mainly by cohesive fracture through the adhesive layer. At low values of log₁₀ Ra_T, i.e. Low rates of peel and high test temperatures, the “low-thermal history” laminates also failed in the adhesive layer and possessed similar peel energies to those measured for the “high-thermal history” laminates. However, at high log₁₀ Ra_T values, the peel energies measured for the “low-thermal history” laminates were lower and showed a wider scatter. These arose from a different locus of failure occurring in these “low-thermal history” laminates when tested under these conditions. Namely, it was found that most of these laminates failed in a weak boundary layer in the outer regions of the “low-thermal history” polyimide film.