Banding formation and eutectic lamellar growth in directional solidified Ni50Al20Fe30 alloy

Banding formation and eutectic lamellar growth in a directionally solidified Ni₅₀Al₂₀Fe₃₀ alloy were investigated. It was found that the banding area consists of two layers. The first layer is a γ layer, while the subsequent one is a γ layer. The composition of various phases around the banding area changes with the solidification process. The banding is formed by two steps process and caused by factors such as the fractions during the sample growth process. It was found that the band was found at relatively low growth rate. Therefore. this study indicates that increasing the growth rate is an effective method to eliminate the band formation. Eutectic lamellae nucleate and grow again after the banding formation. During the initial transition lamellar growth, the relationship between the square lamellar spacing, γ₂, and the distance from, the banding, d, can be described by the following equation: γ₂ = K [1-exp(A.d)] where K and A are constant.     

On input‐to‐state stability‐based design for leader/follower formation control with measurement delays

This paper addresses the design of low‐level controllers for leader–follower formations of nonholonomic vehicles in the presence of bounded measurement delays. The concept of input‐to‐state stability is extended to encompass the effect of bounded delays and restrictions on the input. A method is proposed to integrate a Smith predictor in a backstepping design on the basis of nested saturations and nonlinear small‐gain assignment, which allows for time delays in the feedback loop. Robustness analysis under uncertain bounded time delays is provided, and design tradeoffs resulting from the use of bounded controls are discussed. Illustrative simulations are shown to validate the design and robustness analysis in the context of a simple leader–follower trailing control problem. Copyright © 2012 John Wiley & Sons, Ltd.     

Addressing agent loss in vehicle formations and sensor networks

In this paper, we address the problem of agent loss in vehicle formations and sensor networks via two separate approaches: (1) perform a ‘self‐repair’ operation in the event of agent loss to recover desirable information architecture properties or (2) introduce robustness into the information architecture a priori such that agent loss does not destroy desirable properties. We model the information architecture as a graph G(V, E), where V is a set of vertices representing the agents and E is a set of edges representing information flow amongst the agents. We focus on two properties of the graph called rigidity and global rigidity, which are required for formation shape maintenance and sensor network self‐localization, respectively. For the self‐repair approach, we show that while previous results permit local repair involving only neighbours of the lost agent, the repair cannot always be implemented using only local information. We present new results that can be applied to make the local repair using only local information. We describe implementation and illustrate with algorithms and examples. For the robustness approach, we investigate the structure of graphs with the property that rigidity or global rigidity is preserved after removing any single vertex (we call the property as 2‐vertex‐rigidity or 2‐vertex‐global‐rigidity, respectively). Information architectures with such properties would allow formation shape maintenance or self‐localization to be performed even in the event of agent failure. We review a characterization of a class of 2‐vertex‐rigidity and develop a separate class, making significant strides towards a complete characterization. We also present a characterization of a class of 2‐vertex‐global‐rigidity. Copyright © 2008 John Wiley & Sons, Ltd.     

Adaptive prescribed time control for quadrotor formation with stochastic links failure

The formation control for multiple quadrotors subject to maintaining the formation configuration and collision avoidance in the situation of stochastic links failure is investigated in this paper. First, the distributed formation controller is designed, the position controller is developed to manage the desired formation of position, and the attitude controller is developed to control the translation and rotation movements of the quadrotor. Then, in order to avoid the collisions between multiple quadrotors and the obstacles, a potential energy function method is introduced into the quadrotor formation control combined with the nest adaptive control. Inspired by the design of event trigger controller, a communication compensation controller is designed to ensure the stability of quadrotor formation under the condition of random communication interruption and recovery. Moreover, a prescribed time function is designed, which means the convergence time of the formation system can be set in advance. The prescribed time stability of the formation control system is proved by Lyapunov theory. Finally, the simulation results verify the effectiveness and superiority of this method.     

不同形貌Ti-O基纳米结构的可控制备与形成机制探讨

利用碱辅助水热法实现了Ti-O基纳米管、纳米带和纳米结构微球的合成,通过TEM、SEM等手段对所制备的纳米结构进行表征。当采用商品级锐钛矿TiO2为原料,热水处理温度为180℃、碱的浓度为10mol/L,热处理48h时可以得到Ti-O基纳米带。纳米带宽度为50~200nm,长度达到几十微米甚至一百多微米;产物产率高,质量好,结晶良好,表面洁净,无缺陷。当热处理温度为120℃时,可以得到Ti-O基纳米管,纳米管的长度为200~500nm,外径在20~50nm之间。当所用前驱体的粒径较小时,容易形成较细或者较窄的纳米带或者纳米线,当在选用前驱体的粒径较大时,可以生成纳米结构微球。     

工业设计专业基础设计教学思考与探索

基础设计课程是工业设计专业从基础课程过渡到产品设计课程之间的桥梁,采用理论与实践相结合以实践教学为主的教学方法,理论环节以实例讲授为主,实践环节主要是专题设计训练,培养学生的观察、感受和把握的能力,着重于从纯粹的无目的的形态构成到实际产品设计的过渡,系统地训练产品设计的创意思维方法。在学习过程中运用基础课程的原理与方法,通过手工制作出有实用功能、形式美感兼备的产品雏形。     

A distributed control scheme for multiple robotic vehicles to make group formations

This paper presents a novel distributed control scheme of multiple robotic vehicles. Each robotic vehicle in this scheme has its own coordinate system, and it senses its relative position and orientation to others, in order to make group formations. Although there exists no supervisor and each robotic vehicle has only relative position feedback from the others in the local area around itself, all the robotic vehicles are stabilized, which we have succeeded in proving mathematically only in the cases where the attractions between the robots are symmetrical. Each robotic vehicle especially has a two-dimensional control input referred to as a “formation vector” and the formation is controllable by the vectors. The validity of this scheme is supported by computer simulations.     

鄂尔多斯盆地东南部长7油层组沉积相研究

为了明确鄂尔多斯盆地东南部长7油层组沉积体系类型和沉积相展布特征,总结其沉积演化规律,以沉积学的基本原理和方法为指导,综合运用地球化学、盆地分析等理论和方法,通过野外露头、钻井、测井等资料的综合分析,认为鄂尔多斯盆地东南部长7油层组主要发育三角洲和湖泊沉积体系,可进一步划分为3类亚相,其中以三角洲前缘和深湖2种亚相为主．     

Phase formation and modification of corrosion property of nitrogen implanted Ti-Al-V alloy

In the present investigation, polished samples were implanted with nitrogen ion at an energy of 60 keV and implantation doses were 1×10¹⁶, 5×10¹⁶, 1×10¹⁷ and 6×10¹⁷ ions/cm². Glancing incidence X-ray diffraction was employed on the implanted specimens to understand the phases formed with increasing dose. The valence states of nitrogen, titanium and carbon on the sample surfaces were analyzed by X-ray photoemission spectroscopy. The corrosion resistance was examined by the electrochemical methods in a solution with pH=10 at room temperature in order to determine the optimum dose that can give good corrosion resistance in a simulated nuclear reactor condition. Scanning electron microscopy was used to observe the topographies of nitrogen-implanted Ti-Al-Zr after potentiodynamic measurement. It was found that implanted nitrogen dissolved in titanium matrix with increasing dose and the resultant nitrides such as TiN and Ti₂N precipitated. Implantation of nitrogen ions into the surface of Ti-Al-V alloy improves its corrosion resistance, and the increase of the corrosion resistance depends on the nitrogen dose employed; the maximum improvement of the corrosion resistance was observed at a dose of 1×10¹⁷ N⁺/cm².     

Formation of CaO-TiO2-MgO-Al2O3 dual phase inclusion in Ti stabilized stainless steel

The formation of CaO-TiO2-MgO-Al2O3 dual phase inclusion in 321 stainless steel was investigated in the laboratory. The result indicated that the condition for the formation of CaO-TiO2-MgO-Al2O3 in 321 steel is [Ca]〉0.001wt%, [Ti]〉0.1wt%, and [A1]〉0.01wt%. The mechanism is the following： Al2O3 inclusion turns into CaO-Al2O3 after Ca-Si wire is fed into the molten steel; [Mg] is then obtained by reducing MgO in slag or crucible wall by [Al] and [Ti]; finally CaO-Al2O3 inclusion is changed into CaO-TiO2-MgO-Al2O3 by the reaction with [Mg], [Ti], and [O] in the molten steel simultaneously.