Robust pole assignment for incomplete nonlinear decoupling applied to robots

A robustness analysis and synthesis for incomplete nonlinear decoupling for a class of nonlinear systems is discussed. Rigid and elastic-joint robot models belong to this class. For the elastic case, a transformation facilitates the robustness analysis under a weak assumption. Charts with H ₁- and H - norms of closed-loop disturbance transfer functions of the nonlinear-decoupled system are presented for a robust pole assignment.     

基于超声波的围岩松动圈实时监测系统设计

实时地掌握围岩松动圈的范围对矿藏的安全生产具有重要的意义。利用超声波探测的灵活性和准确性,本文提出了一种基于超声波的围岩松动圈监测系统设计方法。此方案利用超声波在岩体中的传播速度与岩体的受力状态和裂隙程度的关系来实时地监测围岩松动圈的情况,具有方便、灵活、易于操作等特点。     

Toward A Mechanistic Understanding of Re-Infiltration in Naturally Fractured Reservoirs with Surfactant-Aided Gravity Drainage Process

Surfactant-aided gravity drainage is an improved oil recovery technique for water-invaded zone in fractured carbonate reservoirs, which are mostly oil-wet or mixed-wet rocks. The re-infiltration mechanism in water-invaded zone has a considerable effect on oil vertical movement in gravity drainage processes. In this work, a mechanistic understanding of re-infiltration in surfactant-aided gravity drainage, in comparison to oil–water gravity drainage is presented using an experimentally and numerically validated model. A column model is constructed from three matrix blocks. These blocks are separated from each other by horizontal fractures. A storage tank is considered on top of the model to store depleted oil from matrix blocks. The stacked-blocks model for re-infiltration is validated and verified to simulate water and chemical flooding using a mesh independency study and experimental flooding data in a composite core experiment. Using this model, several analyses are performed to investigate effects of rock and fluid properties, rock saturation functions, wettability alteration, surfactant adsorption, and capillary continuity on re-infiltration.     

压入深度与膜厚对薄膜与基体复合硬度及弹性模量的影响

根据高华建的复合弹性模量模型，提出了用一个测点的载荷-位移曲线计算整个压入深度内薄膜和基体复合硬度分布的方法，探讨了压入深度与膜厚对硬度与弹性模量测量值的影响，指出可由膜-基复合性能反推膜本身的性能。     

熔模铸造型壳抗弯弹性模量的研究

依据材料力学、陶瓷材料的有关理论和方法,分别对水玻璃型壳、硅溶胶型壳及其复合型壳在不同温度时的抗弯弹性模量进行了测试研究.结果表明,耐火材料、温度对型壳的弹性模量有较大的影响,硅溶胶型壳和复合型壳的弹性模量值比水玻璃型壳的大.     

大型弹簧钢片开裂原因分析

为保证大型弹簧钢片在热处理过程中，不发生开裂和翘起度超差，重新制订了热处理工艺。通过增加高温回火、降低淬火温度、加快冷却速度等手段，获得了最好的效果。     

轴类零件校直工艺广义预测多步算法研究

本文基于行程控制的轴类零件校直工艺公式 ,构建了模拟轴类零件校直工艺过程的广义预测控制模型 ,应用广义预测算法 ,实现了对轴类零件弹塑性非线性残余变形的均匀控制 ,实验研究表明 ,该方法能满足精密校直要求 ,并且随着控制步长的增多 ,控制效果显著。     

AB INITIO CALCULATION OF THE ELASTIC AND OPTICAL PROPERTIES OF Al_3Sc COMPOUND

The ab initio method has been performed to explore the elastic and optical properties of Al3Sc compound, based on a plane wave pseudopotential method. It can be seen that the calculated equilibrium lattice parameter and elastic constants are in reasonable agreement with the previous experimental data. The elastic constants satisfy the requirement for mechanical stability in the cubic structure of the Al3Sc compound. The optical property calculations show that a strong absorptive peak exists from 0-15eV and a relative small absorptive peak exists around 30eV. The form is caused by the optical transitions between high s, p, and d bands, and the latter results from the optical transitions from high s, p, and d bands to the low 2p band.     

在纳米压入仪上进行悬臂梁法测量弹性模量的影响因素分析

对在纳米压入仪上进行悬臂梁法测量弹性模量的主要影响因素进行了综合分析,主要包括加载系统悬置弹簧刚度、压头压入、梁沿截面宽度方向挠曲、梁支座附加挠曲等影响。在考虑这些因素的基础上,得到了悬臂梁的有效挠度,利用有效挠度与载荷之间的关系,评价悬臂梁材料的弹性模量。对单晶硅(100)悬臂梁试样进行了实验,得到其弹性模量为155GPa±9.5%GPa,与参考文献值符合较好。表明在纳米压入仪上进行悬臂梁法测量,只有综合这些影响因素后,才能获得有效、准确的弹性模量测量结果。