Sound-velocity measurements for HFC-134a and HFC-152a with a spherical resonator

A spherical acoustic resonator was developed for measuring sound velocities in the gaseous phase and ideal-gas specific heats for new refrigerants. The radius of the spherical resonator, being about 5 cm, was determined by measuring sound velocities in gaseous argon at temperatures from 273 to 348 K and pressures up to 240 kPa. The measurements of 23 sound velocities in gaseous HFC-134a (1,1,1,2-tetrafluoroethane) at temperatures of 273 and 298 K and pressures from 10 to 250 kPa agree well with the measurements of Goodwin and Moldover. In addition, 92 sound velocities in gaseous HFC-152a (1,1-difluoroethane) with an accuracy of ±0.01% were measured at temperatures from 273 to 348 K and pressures up to 250 kPa. The ideal-gas specific heats as well as the second acoustic virial coefficients have been obtained for both these important alternative refrigerants. The second virial coefficients for HFC-152a derived from the present sound velocity measurements agree extremely well with the reported second virial coefficient values obtained with a Burnett apparatus.Paper dedicated to Professor Joseph Kestin.     

Brief Overview of Recent Developments on Negative Phase–Velocity Mediums (alias Left–Handed Materials)

This brief overview covers a rapidly occurring development in the area of microwave composite materials: isotropic dielectric–magnetic mediums wherein the phase velocity vector and the time–averaged Poynting vector are oppositely directed. Such materials have also been inappropriately designated as left–handed materials. Ramifications for aberration–free lenses, homogenization approaches, and complex mediums are also presented.     

热舒适条件下环境风速和温度最佳组合的实验研究

文章从人体与热环境的基础理论出发，着重对影响人体与环境之间对流换热的主要因素———温度和气流速度进行了实验研究，并得出相应结论，给出了热舒适条件下二者的最佳组合数学模式。     

基于激光多普勒测速法的2×106m/s2高冲击校准技术

在高冲击传感器动态性能校准中,实现高量程、宽脉冲激励是目前高冲击校准急需解决的问题。采用速度改变法校准原理,以气炮为激励源,利用激光多普勒测速方法测量砧体运动速度,建立高冲击校准系统。分析碰撞系统的作用原理,提出调整和控制激励脉宽的方法;分析测速误差,提出双光束差动侧向测速方法。实验结果表明:高冲击校准系统校准量程为2×106m/s2,激励脉宽在2×106m/s2时大于100μs,校准冲击灵敏度的扩展不确定度小于5%(k=2)。     

Systematic robustness analysis of least squares mobile robot velocity estimation using a regular polygonal optical mouse array

This paper presents the robust velocity estimation of an omnidirectional mobile robot using a regular polygonal array of optical mice that are installed at the bottom of a mobile robot. First, the velocity kinematics from a mobile robot to an array of optical mice is derived, from which the least squares estimation of the mobile robot velocity is obtained as the simple average of the optical mouse velocity readings. Second, it is shown that a redundant number of optical mice contributes to the robustness of the least squares mobile robot velocity estimation against both measurement noises and partial malfunction of optical mice. Third, the sensitivity analysis of the least squares mobile robot velocity estimation to imprecise installation of optical mice is made, from which a practical method of optical mouse position calibration is devised. Finally, some experimental results using commercial optical mice are given to demonstrate the validity and performance of the proposed mobile robot velocity estimation. Copyright © 2011 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society     

A new microsecond pulse-heating system to investigate thermophysical properties of solid and liquid metals

A new discharge system for resistive self-heating has been constructed for the measurement of accurate thermophysical properties. A constant-current pulse is used to heat metals over a time interval of 50 to 100 s, reaching temperatures up to the boiling point. New techniques have been developed to obtain sound speeds in the pulse-heated sample, emissivities, and vapor pressure. A new pyrometer allows the extension of the measured temperature range down to the melting point of copper.     

旋转固体火箭发动机统一流场计算

为了进一步研究旋转对固体火箭发动机工作的影响,采用RSM湍流模型对内孔燃烧、内孔与端面同时燃烧管状装药旋转固体火箭发动机统一流场进行了仿真。采用UDF编程给出质量入口边界,获得了旋转条件下发动机内流场结构参数特点,并给予理论说明。计算结果表明,内孔燃烧装药发动机切向速度流场类似于典型的Rankine涡,端面和内孔同时燃烧装药发动机切向速度流场呈现出Rankine涡和由端面燃烧引起的强迫涡的复杂组合涡;在发动机前封头和喷管喉部涡核切向速度峰值非常大,使燃烧室前封头和喷管喉部工作环境显著恶化;旋转使发动机燃烧室压力沿径向逐渐增大,强迫涡附近的压力梯度远大于推进剂表面的压力梯度。     

Thermal transport behavior of van der Waals solids and liquids in the neighborhood of the solid-liquid phase transition

The thermal conductivity, , is one of the few transport coefficients which shows a relatively small change at the solid-liquid phase transition, and hence it is a property that can be used in comparing dynamic properties of both ordered and disordered systems. Although the discontinuity in can be accounted for largely by the difference in density, , of solid and liquid at the phase transition, its volume dependence is examined more closely. The thermal diffusivity, which is known to dominate the dynamic structure factor of liquid argon, has been determined around the phase transition also; the sound velocity has been considered in addition. The results are discussed and a comparison is made with these properties in solid and liquid benzene and cyclohexane.Paper presented at the Ninth Symposium on Thermophysical Properties, June 24–27, 1985, Boulder, Colorado, U.S.A.     

冲击荷载作用下热处理花岗岩动态力学特性研究

为研究冲击速度和热处理温度对黑云母花岗岩动态力学特性的影响,利用改进的霍普金森压杆系统对25~800 ℃共9个温度等级的热处理试样分别进行3种弹速下的冲击压缩试验。试验结果表明：随着冲击速度的增加,25~700 ℃热处理试样的应力—应变曲线由“Ⅱ型”转变为“Ⅰ型”,而800 ℃热处理试样均表现出“Ⅰ型”应力—应变曲线特征。同一温度热处理下试块的峰值应力、应变和平均应变均随动荷载的升高而增大。相同的冲击速度下,300 ℃热处理试样的动力学性能有所改善,500 ℃后试样的动力学性能开始逐渐劣化。同一温度热处理试样的破碎程度随冲击速度的增加而增加;相同冲击速度下,热处理试样的破碎程度随温度的升高先减弱后增强。     

Noncertainty equivalent adaptive control of robot manipulators without velocity measurements

This paper presents a noncertainty equivalent adaptive motion control scheme for robot manipulators in the absence of link velocity measurements. A new output feedback adaptation algorithm, based on the attractive manifold design approach, is developed. A proportional-integral adaptation is selected for the adaptive parameter estimator to strengthen the passivity of the system. In order to relieve velocity measurements, an observer is designed to estimate the velocities. The controller guarantees semiglobal asymptotic motion tracking and velocity estimation, as well as L_∞ and L₂ bounded parameter estimation error. The effectiveness of the proposed controller is verified by simulations for a two-link robot manipulator and a four-bar linkage. The results are further compared with the earlier certainty-equivalent adaptive partial and full state feedback controller to highlight potential closed-loop performance improvements.