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.     

保持几何特征的自适应弹性二次曲线模型

物体形状特征的准确提取往往受到图像获取、目标分割等过程中各种因素的影响,因而需要构造一种鲁棒的形状表现来保有其本质特征。揭示弹性二次曲线(EQW)模型中能量权重因子和样条重叠度因子与形状几何特性间的关系,提出一种自适应保持几何特征的EQW形状表现模型,并将该模型与交互式Live Wire算法相结合,应用至图像分割中,对于各种模态图像中的目标进行分割实验。直观上,本文方法能够在去除噪声同时较好地保持目标形状的显著特征;量化结果方面,交互式分割误差保持在较小稳定范围内,引入EQW模型带来的时间开销亦在可接受范围内。     

Mechanical properties of nano SiO2 filled gypsum particleboard

Nano SiO2 was filled into gypsum particleboard. Effect of the amount of nano SiO2 particles filled, ultrasonic dissipating duration and treating the nano particles with different coupling agents on the mechanical properties of the board were studied respectively. The results show that nano SiO2 is helpful for the improvement of the properties. Adding 3%（mass fraction） nano SiO2 is the best for the improvement of both modulus of rupture（MOR） and modulus of elasticity（MOE） of the boards formed at 30 ℃ or 40 ℃. For the boards formed at 30 ℃, their MOR and MOE can be improved by 8.77% and 12.24%, and MOR and MOE of the boards formed at 40 ℃ can be improved by 44.44% and 108.38%.3% is also the best addition proportion to improve internal bond（IB） of the boards formed at 30 ℃, while 5% is the best for that of the boards formed at 40 ℃. At room temperature, dissipating nano Si02 into flake by ultrasonic has better effect on the properties of the final products. Through ultrasonic treating for 1 h and the best treating duration, the MOR and MOE can be increased by 41.99% and 47.80%. In addition, different coupling agents have different effects on the final properties too, and silane coupling agent KH570 is better for the improvement of properties of the boards formed at room temperature.     

基于纳米压痕技术的电子玻璃微观力学性能研究

为了研究不同电子玻璃的微观力学性能,采用先进的纳米压痕技术记录钠钙硅、无碱硼铝硅和碱铝硅等典型电子玻璃的载荷-位移曲线,利用Oliver-Pharr方法和经典的弹塑性变形理论,计算玻璃的硬度和弹性模量. 玻璃的硬度主要与结构的键合度相关,平均非桥氧数越高,外力作用下越容易致密化,硬度越小;弹性模量主要取决于质点间的化学键强度,化学键力越强,变形越小,弹性模量越大;九点法测得的弹性模量与硬度的变化趋势不完全相同,借助硬度-弹性模量-能量耗散之间的本征关系,评价玻璃样品的微观均匀性,其中无碱硼铝硅玻璃的恢复阻力大,局部能量耗散大,不容易引起整体破坏,力学性能最好;与浮法工艺相比,溢流下拉法制备样品的局部力学性能波动较小,微观均匀性较好.     

The effect of α phase on the deformation mechanisms of β titanium alloys

The effects of α and β phase interactions on the tensile and creep deformation behavior of β titanium alloys was studied using Ti-6.0wt.% Mn and Ti-8.1wt.%V as the model two-phase alloys, and Ti-13.0wt.%Mn and Ti-14.8wt.%V as the single-phase β alloys. The β phase of α-βTi-8.1V deforms by stress-induced hexagonal martensite (α′), while slip and twinning occurs in the single-phase β alloy with the same chemistry as the β phase. No stress-induced martensite was observed in the β or α-βTi-Mn alloys. This behavior is modeled in terms of a number of factors, including elastic interaction stresses between the α and β phases, coherency between the α phase and hexagonal martensite, and β phase stability. This paper was presented at the Beta Titanium Alloys of the 00’s Symposium sponsored by the Titanium Committee of TMS, held during the 2005 TMS Annual Meeting & Exhibition, February 13–16, 2005 in San Francisco, CA.     

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。     

铝/空心微珠复合材料弹性性能的预测研究

根据复合材料的基本原理建立了复合材料弹性模量的本构方程，在这基础上利用有限元的方法预测了空心微珠增强铝基复合材料的弹性模量，并在模拟中考察了空心微珠体积百分比（Vf）、空心微珠壁厚与空心微珠半径的比值（t／R）两个参数对弹性模量的影响。通过将有限元模拟结果与理论计算结果相比较，发现结果具有较好的一致性。由于有限元模型和公式是理想模型，其结果比实验值要高，为此，通过考虑空心微珠增强铝基复合材料的主要缺陷，从而使模拟值更接近于实验值。     

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。