基于ZMP的双足机器人稳定性分析

引入双足机器人研究中一个重要物理量——零力矩点ZMP（zero Moment Point）,研究其计算和测量方法,利用其分析双足机器人在单腿和双腿支撑时的作用范围,最后在二维和三维平面内对机器人的ZMP计算进行探讨,为稳定步态的设计做了理论铺垫。     

利用Liapanov直接方法判定差分方程稳定性

研究差分方程稳定性的强有力的方法是Liapanov直接方法,这一方法的核心思想是针对所研究的方程,构造出其相应的Liapanov函数,利用它来判定方程的稳定性．     

双足机器人行走稳定性研究

双足机器人行走的稳定性是双足行走最为重要的衡量指标之一.针对传统的基于零力矩点（ZMP）步态稳定性判据方法,分析了ZMP、COP的相互关系,表明在双足机器人与水平地面无粘性力和无吸附力作用下,其ZMP即为压力中心点COP.基于具有足趾关节的双足机器人足底支撑面多种变化,提出对多点接触时支撑多边形区域描述.结合ZMP/COP、COG的在支撑面内相对位置,提出了基于ZMP/COP、COG的综合稳定性判据.经仿真分析,与传统单一的ZMP稳定性判据相比,该综合稳定性判据能够更为准确地反映步态的稳定性.     

具有收获率的HollingⅢ类功能性反应捕食模型的定性分析

研究了在线性收获率条件下两种群都具有密度制约项的HollingⅢ类功能性反应的捕食模型,利用微分方程定性分析理论,对模型进行了定性分析.讨论了模型的食饵等倾线和捕食者等倾线的性质,并且根据它们的位置关系给出了模型唯一正平衡点存在的充要条件,研究了模型各个平衡点的性态,得到了模型的一切解是正向有界的,同时通过构造Dulac函数,由Dulac判断定理得到了模型不存在极限环的条件,并给出了唯一正平衡点全局渐近稳定的充分条件.     

Thermal analysis of montmorillonites modified with quaternary phosphonium and ammonium surfactants

The thermal stability of seven organically modified montmorillonites (‘organoclays’) has been investigated using differential thermal analysis, differential scanning calorimetry, and thermogravimetry in conjunction with X-ray diffractometry. Six organoclays were synthesised by replacing the interlayer inorganic cations, initially present, with quaternary phosphonium and ammonium surfactant cations. The samples modified with tetrabutylphosphonium (TBP), and butyltriphenylphosphonium (BTPP) ions have an appreciably higher thermal stability than the octadecyltrimethylammonium (ODTMA)-modified clays. Thus, in the case of TBP- and BTPP-modified montmorillonites, the onset temperature of decomposition is close to 300 °C. Samples modified with hexadecyltributylphosphonium (HDTBP) ions have a lower onset temperature of decomposition of 225 °C. In comparison, the onset temperature for ODTMA-montmorillonites (obtained at different concentrations of ODTMA-bromide) ranges from 158 to 222 °C, being highest where the concentration of intercalated surfactant is lowest. The onset temperature for a commercial alkylsilane-treated quaternary ammonium-modified organoclay (S-BEN N-400FP) is 207 °C. The basal spacing of the TBP- and BTPP-modified clays is 1.7–1.8 nm, indicating a monolayer arrangement of quaternary phosphonium ions in the interlayer space, while the value of 2.5 nm for HDTBP-montmorillonite indicates a more open structure. The ODTMA-modified samples have basal spacings ranging from 1.9 to 2.1 nm, indicative of a bilayer to pseudo-trilayer arrangement. The exceptionally high basal spacing of 3.4 nm for the S-BEN N-400FP organoclay might be due to interlayer penetration of organosilane hydrolysis products during synthesis. The thermal properties of organoclays are apparently related to the nature of the surfactants and their arrangement in the interlayer space of montmorillonite.     

Immobilizing chromium in stainless steel slags with MnO addition

This work investigates the stabilizing impact of MnO on the leaching behavior of hazardous Cr-containing CaO-SiO₂-Al₂O₃-Cr₂O₃-MnO stainless steel slags after equilibrating at various elevated temperatures and evaluates the potential immobilization of Cr into a MnCr₂O₄ spinel phase from the existing Cr₂O₃ phase. The MnCr₂O₄ spinel phase was found to be an excellent Cr-stabilizer in stainless steel slags, where the leaching tendency of potentially hazardous Cr-related ions decreased with higher MnO content and lower equilibration temperatures within the range of 0 to 15 mass pct. and 1500 to 1300°C, respectively. Thermodynamic calculations by conducting the phase stability diagram also showed that the MnCr₂O₄ spinel phase was relatively stable and the Ca₃Si₂O₇ (Ca_3-xMn_xSi₂O₇) phase was relatively unstable compared with other crystal phases in acid extractant with pH value of 3.2. Combined with the scanning electron microscopy and X-ray powder diffraction results along with the thermodynamic calculations, the leached Cr-related ions was predominantly originating from the unstable amorphous glass phase.     

Temperature stability and fracture toughness of Nd-Fe-B magnets

Temperature stability and toughness of magnets are very important properties especially for application in motor. In this paper, it is found that temperature stability and toughness of magnets are improved when Fe is substituted with Co andheavy rare earth is substituted for Nd in part and suitable rich B grain-boundary phase is added. In addition, heavy rare earth substitution decreases the remanence temperature coefficient greatly, but has a little effect on Curie temperature of the magnets, which is beneficial to Nd-Fe-B magnets for the application in motor.     

泡沫塑料表面的磁控溅射镀膜技术研究

对硬质聚氨酯泡沫塑料进行适当的前处理(涂刮不饱和聚酯腻子和喷涂双组份聚氨酯清漆),再采用磁控溅射镀膜技术对其进行紫铜T2镀膜,能够有效地降低泡沫塑料的吸水率,提高尺寸稳定性.     

水电站大坝安全等级评定中边坡因素的影响剖析

基于我国水电站大坝安全定期检查的长期实践经验,分析了运行水电站边坡失稳对大坝运行安全的主要影响后果,归纳了边坡稳定状况评价的主要工作和原则,提出了边坡安全级别确定的原则。