Orientationability analyses of a special class of the Stewart–Gough parallel manipulators using the unit quaternion representation

This paper addresses the orientation-singularity and orientationability analyses of a special class of the Stewart–Gough parallel manipulators whose moving and base platforms are two similar semi-symmetrical hexagons. Employing a unit quaternion to represent the orientation of the moving platform, an analytical expression representing the singularity locus of this class of parallel manipulators in a six-dimensional Cartesian space is obtained. It shows that for a given orientation, the position-singularity locus is a cubic polynomial expression in the moving platform position parameters, and for a given position, the orientation-singularity locus is an analytical expression but not a polynomial directly with respect to the mobile platform orientation parameters. Further inspection shows that for the special class of parallel manipulators, there must exist a nonsingular orientation void in the orientation space around the orientation origin for each position in the position-workspace. Therefore, a new performance index referred to as orientationability is introduced to describe the orientation capability of the special class of manipulators at a given position. A discretization algorithm is proposed for the computation of the orientationability of the special class of manipulators. Moreover, effects of the design parameters and position parameters on the orientationability are investigated in details. Based on the orientationability performance index, another novel performance index referred to as practical orientationability is presented which represents the practical orientation capability of the manipulator at a given position. The practical orientationability not only can satisfy all the kinematic demands and constraints of such class of manipulators, but also can guarantee that the manipulator is nonsingular.     

Effect of integrated extrusion–equal channel angular pressing temperature on microstructural characteristics of low carbon steel

Abstract

In the present research, a combined forward extrusion–equal channel angular pressing was developed and executed for the deformation of a plain carbon steel. In this method, two different deformation steps, including forward extrusion and equal channel angular pressing, take place successively in a single die. The deformation process was performed at different deformation start temperatures (800, 930 and 1100°C). Three-dimensional finite element simulation was used to predict the strain and temperature variations within the samples during deformation. With microstructural observations and the results of finite element simulation, the main grain refinement mechanisms were studied at different deformation temperatures. The results show that the forward extrusion–equal channel angular pressing is effective in refining the ferrite grains from an initial size of 32 μm to a final size of ～0·9 μm. The main mechanisms of grain refinement were considered to be strain assisted transformation, dynamic strain induced transformation and continuous dynamic recrystallisation, depending on the deformation temperature.     

Structure factors of modified liquid Al–Si alloys

The structure factor and the coordination numbers of liquid Al–Si alloys with different Si content have been measured by a high temperature X-ray diffractometer. Radial distribution functions (RDFs), the nearest atomic distance and the coordination numbers of eutectic Al–Si alloys before and after being modified with Sr and Sb were studied. The RDFs of the liquid alloy were decomposed by five Gaussian peaks. The results show that a Si–Si covalent bond exists in the liquid of eutectic and hyper-eutectic alloys. Sr in the liquid Al–Si has a capability to weaken the covalent bonds of Si–Si, suppressing the nucleation of the eutectic silicon phase. On the other hand, Sb in the liquid Al–Si increases the order degree of Si atoms, decreasing the supercooling degree of the nucleation and promoting the nucleation of eutectic silicon.     

Annealing process of fine grained co-stabilised (Y,Mg)-PSZ/MgAl2O4 ceramics

Abstract

Co-stabilised (Y,Mg) partially stabilised zirconia (PSZ) ceramics with MgAl₂O₄ spinel additions were produced, with industrial zirconia as the main starting material. Powders were prepared using a mechanical milling–mixing process. The effect of the annealing process on the mechanical properties, phase compositions, and microstructure of fine grained PSZ ceramics was investigated.     

稠油冷采用冻胶分散体调驱体系的相互作用机制

目的 旨在有效解决稠油化学冷采过程中降黏剂窜流现象严重、油藏动用效率低的问题,支撑稠油绿色高效开发。方法 基于稠油冷采降黏剂高效降黏洗油与冻胶分散体调剖剂储层调控的协同效应,采用复配方式构建了稠油冷采用冻胶分散体调驱体系,测试其基本性能,并使用界面扩张流变仪以及流变仪,考查了体系的界面流变特性和剪切应力特性。结果 体系由质量分数为0.06%～0.12%的冻胶分散体和质量分数为0.05%～0.15%的降黏剂组成,为粒径均一的低黏流体,能够降低界面张力并乳化稠油,降黏率达到95%以上。体系中降黏剂在油水界面的吸附行为决定了体系的乳化降黏能力,降黏剂通过吸附在冻胶分散体的表面提高了体系的聚结稳定性,并考查了组分含量及油藏条件对以上过程的影响。结论 构建了一种兼具储层调控和高效降黏能力稠油冷采用冻胶分散体调驱体系,探明了体系中各组分间的相互作用机制,为稠油化学冷采提供了技术支持。     

π放面机道用凝胶防灭火的实践

鹤岗矿业集团公司大陆煤矿在-275南11层零区回掘期间,应用新型凝胶防灭火工艺,成功地完成了回采任务,有效地消灭了煤层发火,保证了正常生产。     

LaO_x(OH)_y supported platinum catalysts for CO oxidation:Deactivation by formation of lanthanum carbonate

Platinum catalyst for CO oxidation has been studied for decades,due to its high activity and good stability.In this work,we prepared three different lantha num oxide or hydroxide supports(LaO_x(OH)_y),and deposited platinum(Pt) with 0.5 at% via an impregnation approach to synthesize Pt/LaO_x(OH)_y catalysts.However,we find that these catalysts perform a poor stability for the CO oxidation reaction.The fresh and used samples were comprehensively characterized by multiple techniques including power X-ray diffraction(XRD),X-ray absorption fine structure(XAFS),transmission electron microscopy(TEM),temperature-programmed reduction by carbon monoxide(CO-TPR) and thermogravimetric analysis(TGA),to demonstrate that the oxidized platinum atoms or clusters,without any component of Pt-Pt metallic bond,are highly dispersed on the surface of LaO_x(OH)_y.Furthermore,the as-formed lanthanum carbonate(La₂O₂CO₃) during the exposure to ambient circumstances or in the reaction atmosphere of CO+O₂,severely impair the reactivity of Pt/LaO_x(OH)_y.On the basis of the obtained experimental results,we have drawn a conclusion that the oxidized P_tO_x atoms or PtxOy clusters are the active species for CO oxidation,while the formation of lanthanum carbonate is the origin of deactivation on reactivity.     

表面胶转化法合成亚微米厚度MFI型分子筛薄膜应用于快速择形分离己烷异构体

在膜分离中,薄膜超薄化对促进气体传输至关重要,而将膜厚降至亚微米级则极具挑战性.本文中,我们提出表面胶转化法来合成亚微米厚度的纯硅MFI分子筛膜.通过精细调控前驱体化学组成制备了低浸润性的黏性胶,有效防止凝胶从氧化铝载体表面渗透至空隙中.在晶种的诱导下,辅以少量水蒸气,表面凝胶经历了直接和完全晶化过程,形成了厚度为~5...     

Sensitivity analysis of nonlinear fractional order control systems with state delay

In this paper, we consider a class of nonlinear fractional order control system with delay in state variable. Existence and uniqueness of solution are shown by using method of steps. The sensitivity of the state and control with respect to the parameters of the system is shown. Finally, analytical results are substantiated by numerical examples.     

Recursive identification for Hammerstein–Wiener systems with dead-zone input nonlinearity

A new recursive algorithm is proposed for the identification of a special form of Hammerstein–Wiener system with dead-zone nonlinearity input block. The direct motivation of this work is to implement on-line control strategies on this kind of system to produce adaptive control algorithms. With the parameterization model of the Hammerstein–Wiener system, a special form of model estimation error is defined; and then its approximate formula is given for the following derivation. Based on these, a recursive identification algorithm is established that aims at minimizing the sum of the squared parameter estimation errors. The conditions of uniform convergence are obtained from the property analysis of the proposed algorithm and an adaptive setting method for a weighted factor in the algorithm is given, which enhances the convergence of the proposed algorithm. This algorithm can also be used for the identification of the Hammerstein systems with dead-zone nonlinearity input block. Three simulation examples show the validity of this algorithm.