碳纳米管受介电泳作用三维运动仿真

利用溶于介电液中的碳纳米管在外加交变电场作用下极化产生介电泳力和液体粘滞阻力的共同作用,建立了碳纳米管受力和运动模型;对碳纳米管的运动过程进行了仿真,得到了碳纳米管从特定初始点开始的三维运动轨迹和可以实现组装的碳纳米管初始点分布区域.计算了碳纳米管运动过程中所受介电泳力和速度的变化规律,距离电极间隙越近,碳纳米管受力和速度越大,最大分别能达到10^-9 N和10⁵μm/s的数量级.仿真结果为碳纳米管介电电泳组装提供指导.     

雾霾成因及严寒地区乙醇汽油对雾霾影响

本文通过分析雾霾的组成成分及其形成机理,分别研究了乙醇汽油燃烧产物气溶胶粒子、颗粒物、附加产物(醛酮等)和水分对严寒地带区域性雾霾形成的影响.研究结果表明,乙醇汽油燃烧产物对雾霾的影响也是比较严重的,在严寒地区冬季不建议过量使用乙醇汽油.     

基于投影成像原理的弹丸着靶姿态高精度测试方法研究

弹丸着靶姿态测试是弹道参数测试中的重要项目,姿态参数与着靶速度、弹丸质量、能量传递效率共同反映了弹丸的终点效能,由于弹丸目标小、速度快,对其着靶瞬间的三维姿态角的高精度测试还无法实现。采用投影测试方法、视场标定方法、数据修正计算方法,解决了目标的高质量成像、标定判读、角度计算等难题,实现了小口径弹丸的着靶姿态测试,完善了测试项目,提升了测试能力。     

含有柔顺关节的并联机器人轨迹跟踪实验

使用柔顺关节代替刚性转动副搭建柔顺关节并联机器人实验平台.利用OPTOTRAK测量系统对3-DOF柔顺关节并联机器人动平台轨迹进行测量.实验数据的对比分析表明:柔顺并联机器人运行平稳,由轴向漂移和弹性振动引起的误差均控制在允许范围之内.     

PAC投加对絮体破碎后再絮凝特性和颗粒去除的影响

为改善絮体破碎后的再絮凝能力,提高颗粒的去除效率,以西宁地区低温低浊水为研究对象,通过光学检测仪器及数学拟合方式,分析补投聚合氯化铝(PAC)对破碎后絮体粒径与分布、生长速率变化的影响,描述颗粒及浊度的去除效果.结果表明:随PAC补投量的升高,絮体粒径和生长速率均先增大后减小,各自达到峰值所需补投药量分别为4和6 mg/L;剩余浊度和颗粒数先降低后升高,最低时可分别降至0.79 NTU、90个·m L-1.补投2 mg/L药剂后,280~630μm絮体颗粒体积分数由22.85%增大到46.36%,4~35μm絮体颗粒体积分数由1.21%减小至0.19%,再絮凝后絮体平均粒径为400μm,大于未破碎前的370μm,粒径增长率为8.11%,絮体生长速率为77.26μm/min.补投PAC可促进絮体破碎后的再絮凝,提高浊度及颗粒数的去除效果,可有效改善实际工程絮凝工艺效果.     

移动服务机器人共享控制研究

移动服务机器人在提高老人/残疾人活动空间方面具有重要作用.针对机器人自主避障失败时存在安全问题,提出了基于共享控制的服务机器人系统.构建基于机器视觉与人眼视觉共享控制的机器人系统.研究服务机器人的共享策略问题和眼电信号角度与参考轨迹关系.引入人工场解决自适应轨迹跟踪算法的平滑性.仿真结果说明基于人工场导向方法能平滑逼近期望轨迹.实验结果表明本系统能够满足使用者的安全需求.     

Trajectory Optimization Design for Morphing Wing Missile

This paper presents a new particle swarm optimization (PSO) algorithm to optimize the trajectory of morphing-wing missile so as to achieve the enlargement of the maximum range. Equations of motion for the two-dimensional dynamics are derived by treating the missile as an ideal controllable mass point. An investigation of aerodynamic characteristics of morphing-wing missile with varying geometries is performed. After deducing the optimizing trajectory model for maximizing range, a type of discrete method is put forward for taking optimization control problem into nonlinear dynamic programming problem. The optimal trajectory is solved by using PSO algorithm and penalty function method. The simulation results suggest that morphing-wing missile has the larger range than the fixed-shape missile when launched at supersonic speed, while morphing-wing missile has no obvious range increment than the fixed-shape missile at subsonic speed.     

Optimal Release Control of Companion Satellite System Using Electromagnetic Forces

Electromagnetic forces generated by the inter-action of component satellites can be used to release companion satellites. Optimal release trajectories for companion satellite system using inter-electromagnetic forces were investigated. Firstly, nonlinear relative motion dynamic equations of a two-craft electromagnetic companion satellite system were derived in spatial polar coordinates. Then principles of electromagnetic satellite formation flying were introduced. Secondly, the characteristics of the electromagnetic companion satellites release were analyzed and optimal release trajectories of companion satellites using electromagnetic forces were obtained using Gauss pseudospectral method. Three performance criteria were chosen as minimum time, minimum acceleration of the separation distance and minimum control acceleration. Finally, three release examples including expansion along separation distance, rotation in orbital plane and stable formation reconfiguration were given to demonstrate the feasibility of this method. Results indicated that the release trajectories can converge to optimal solutions effectively and the concept of release companion satellites using electromagnetic forces is practicable.     

Evolution of insoluble eutectic Si particles in anodic oxidation films during adipic-sulfuric acid anodizing processes of ZL114A aluminum alloys

The effects of insoluble eutectic Si particles on the growth of anodic oxide films on ZL114A aluminum alloy substrates were in-vestigated by optical microscopy (OM) and scanning electron microscopy (SE...     

基于航模辅助观测的车辆轨迹提取方法

为了克服交通流定点视频观测方法在观测范围上的局限性,提出了一种基于飞行航模辅助视频观测的地面道路车辆轨迹提取方法．首先应用飞行航模在空中拍摄获得道路交通流视频,并将视频分解为连续逐帧图片;其次应用针孔成像模型和空间坐标转换算法,对逐帧航拍图片内的车辆坐标进行提取和转换,以获得车辆的运行时空轨迹数据;最后进行了该方法的3类误差分析.结果表明,该方法在标准棋盘格试验下提取坐标的相对误差小于5％,实际道路交通目标坐标提取的精度达到90％以上．航模辅助视频观测法可实现对交通目标的大范围低成本观测,能够满足交通工程的观测需求．