基于MAS的多机械手协调工作控制

为了解决全自动化晶体切片角分类机三个机械手协调工作的控制问题,设计了以MAS理论为基础的分布式网络控制器.系统利用黑板结构来实现全局动态目标下的状态信息的共享,采用多Agent理论对三个机械手进行协调工作控制,解决了机械手之间的运动耦合问题,使之能够在同一个时间和不同的空间内协调与配合工作,完成整体工作任务.基于此设计的设备可改善工人的劳动环境、提高生产效率、确保晶体切片切角的测量与分类准确.     

Formation mechanism of subtrenches on cone-shaped patterned sapphire substrate

In this paper, the cone-shaped patterned sapphire substrates (PSS) were etched by an inductively couple plasma with BCl 3 as the reacting gas. The influence of the operating pressure and the RF bias power on subtrenches of the cone-shaped PSS and the formation mechanism of subtrenches were investigated. The profiles of patterns were characterized by FESEM (field emission scanning electron microscope). It showed that the subtrench size varied with the operating pressure and the RF bias power. As the operatin...     

Preparation of highly crystalline nanofibers on Fe and Fe-Ni catalysts with a variety of graphene plane alignments

The present study confirmed that highly crystalline nanofibers with controlled structure may be prepared over Fe and Fe-Ni alloy catalysts. The degree of graphitization of various carbon nanofibers (CNFs) was analyzed by using C(0 0 2) peaks from the XRD profiles. The C(0 0 2) peaks of CNFs over Fe catalyst shifted to higher angle and became narrower as the preparation temperature increased from 560 to 620 °C. Tubular CNFs prepared at temperature higher than 630 °C showed lower 2θ angles compared to those of platelet fibers. CNFs prepared over Fe-Ni catalysts tended to resemble those prepared over Fe catalysts. The degree of graphitization of platelet CNFs resembled natural graphite, while d_0 0 2 of the tubular CNFs showed values below the 3.39 Å reported as a theoretical minimum for a cylindrical alignment. Lc_0 0 2 of platelet and tubular CNFs increased by heat treatment at 2000 and 2800 °C though d_0 0 2 changed little. A transverse section of platelet and tubular CNFs had a hexagonal shape, not a round shape. The hexagonal column allows AB stacking of hexagonal planes that can give perfect hexagonal alignment.     

Transitions from solid to liquid in isotactic polystyrene studied by thermal analysis and X-ray scattering

A three-phase model, comprising mobile amorphous fraction (MAF), rigid amorphous fraction (RAF) and crystalline fraction (C), has been applied to interpret the thermal transitions and structure of cold-crystallized isotactic polystyrene (iPS) from below the glass transition temperature, T_g, to above the melting point. Quenched amorphous iPS films were isothermally crystallized at different temperatures for 12 h. The fraction of crystalline phase, ?_c, was measured by differential scanning calorimetry (DSC), wide angle X-ray scattering and Fourier Transform infrared spectroscopy. The fraction of the mobile amorphous phase, ?_MAF, was obtained from the heat capacity increment at the glass transition temperature. In the three-phase model, the fraction of the rigid amorphous phase, ?_RAF, was found from 1−?_MAF−?_c. Specific heat capacity measurements by standard DSC confirm that the experimental baseline heat capacity conforms to a three-phase model for temperatures ranging from below T_g, up to the relaxation of RAF. The relaxation of RAF appears as a sigmoidal change in heat capacity accompanied by excess enthalpy, in which solid-like RAF is converted to an identical amount of liquid-like MAF.At temperatures above the relaxation of RAF, either one or two major crystal melting endotherms are observed in standard DSC, dependent upon crystallization temperature. However, using quasi-isothermal temperature modulated DSC, we always observed two reversing melting endotherms. The effects of annealing on iPS structure during the quasi-isothermal measurement were assessed using small angle X-ray scattering (SAXS). Combining the DSC and SAXS results, a model for the melting of iPS lamellae at low heating rates is presented.     

Lattice-based key exchange on small integer solution problem

In this paper, we propose a new hard problem, called bilateral inhomogeneous small integer solution （Bi-ISIS）, which can be seen as an extension of the small integer solution problem on lattices. The main idea is that, instead of choosing a rectangle matrix, we choose a square matrix with small rank to generate Bi-ISIS problem without affecting the hardness of the underlying SIS problem. Based on this new problem, we present two new hardness problems： computational Bi-ISIS and decisional problems. As a direct application of these problems, we construct a new lattice-based key exchange （KE） protocol, which is analogous to the classic Diffie- Hellman KE protocol. We prove the security of this protocol and show that it provides better security in case of worst-case hardness of lattice problems, relatively efficient implementations, and great simplicity.     

Microstructure of high modulus solid state extruded polyethylene: 2. X-ray scattering studies of 12, 24 and 36 extrusion draw ratio

The microstructure of a series of solid state extruded polyethylene fibres was examined by wide- and small-angle X-ray scattering. By measuring absolute intensities using a two dimensional position sensitive detector, accurate values of the small-angle invariant for anisotropic samples were obtained. This measurement coupled with wide-angle X-ray scattering and d.s.c. permitted determination of the density of the noncrystalline component. The use of a two phase model for solid state extruded polyethylene is justified if consideration is given to the effective densities of the crystalline and noncrystalline phases, which change with deformation. The effective density of the crystalline phase decreases by 1% (0.999–0.990 g cm^?3) from the unextruded billet compared to a 36 draw ratio extrudate, while the noncrystalline phase density increases by 6% (0.84–0.89 g cm^?3). These changes lead to an overall decrease in the mean squared electron density fluctuation of 63%. The average axial crystallite length measured by wide-angle X-ray scattering increases with extrusion draw ratio while the SAXS long period decreases and weakens considerably. These observations and the electron microscopy results from the previous paper, (Polymer, 1982, 23, 1069), are fully consistent with the key features of the Peterlin model of fibre microstructure.     

大内跨小边跨框架结构预应力筋优化布置方法

预应力筋的优化布置是大内跨小边跨的多跨预应力混凝土框架结构合理设计计算的关键.为满足控制截面承载力最大的需要,以往常将大跨所需预应力筋布置为连续曲线,并按水平直线延伸通过其相邻的两小跨,按这种布置方式仅使大跨内产生竖向向上的预应力等效荷载,可较好平衡大跨的竖向外荷载;而若将大跨及相邻的两小跨统一考虑,预应力筋按连续曲线布置,张拉产生的预应力等效荷载不但可有效平衡大跨的竖向外荷载而且也可平衡小跨的竖向外荷载,可以使荷载平衡得到优化实现.以一典型工程为例,分析了在相同条件下两种预应力筋布置过程中张拉引起的综合弯矩、主弯矩和次弯矩的分布和量值上差异,比较了两类布筋形式对正截面承载力计算结果的影响,验证了对大内跨小边跨框架结构统一考虑后整体上按三段连续正反抛物线预应力筋布置的合理性.     

Effects of laser beam energy and incident angle on the pulse laser welding of stainless steel thin sheet

This paper reports an experimental study of laser spot welding on stainless steel sheets. A pulsed Nd:YAG laser was used to weld the stainless steel specimen in the range of laser energy 0.6–1.2 J and incident angle 30–75° (the angle of the laser beam incident direction to the sheet surface). Metallography was applied to measure the cross-sectional size and shape of the welded spot. From the experimental results, it is found that as the laser energy increases, the penetration depth, bead length, and bead width of the welded spot increase. As the laser incident angle increases, the penetration depth and the bead width increase while the bead length decreases. The results illustrate that the shape and size of the welded spot depend not only on the laser energy, but also on the incident angle of laser beam.     

Effects of electrical discharge surface modification of superalloy Haynes 230 with aluminum and molybdenum on oxidation behavior

The effects of the electrical discharge alloying (EDA) process on improving the high temperature oxidation resistance of the Ni-based superalloy Haynes 230 have been investigated. The 85 at.% Al and 15 at.% Mo composite electrode provided the surface alloying materials. An Al-rich layer is produced on the surface of the EDA specimen alloyed with positive electrode polarity, whereas, many discontinuous piled layers are attached to the surface of the EDA superalloy when negative electrode polarity is selected. The oxidation resistance of the specimen alloyed with positive electrode polarity is better than that of the unalloyed superalloy, and the effective temperature of oxidation resistance of the alloyed layer can be achieved to 1100 °C. Conversely, the oxidation resistance of the other EDA specimen alloyed with negative electrode polarity is even worse than that of the unalloyed superalloy.     

New method for determination of the pose of the grinding wheel for thinning drill points

Traditionally, twist drills are reconditioned by thinning the web so the correct chisel edge length is restored. Recently, thinning has been included in the original design of drills so as to reduce torque and tool force. Because the International Standards Organization (ISO) has a system which can comprehensively model conventional twist drills but cannot model thinning specifications, this paper presents a system for precise mathematical modeling and CNC control of a 6-axis grinding workstation for drill thinning. The presented method determines the position and orientation of the grinding wheel based on the evaluated rake and clearance angles of ISO standards for 2-flute twist drills. The mathematical model and background are discussed. For verification and demonstration, two experimental drills are produced to the identical ISO standard except that one is thinned. The modeling herein is of value to industry and research if incorporated into computer software for drill design and manufacture. It is suitable for linear notch-type cutting with controlled variable rake angle along the secondary cutting edge for purposes of thinning, notching, dubbing and advanced drill research.