Psychological evaluations of robot motions

Human arm motions were simulated using both computer graphics and an industrial robot under various velocity patterns, and evaluated to examine which factors are essential for human-likeness. The results are summarized as follows. First, the velocity peak position in the normalized movement time of the motion is important for the emotion of human-likeness. Second, the maximum value of the velocity affects the human impression of the motion. There exists an appropriate maximum value which best gives a subject the impression of human-likeness. Finally, the emotion of human-likeness is related to that of agreeableness. These results are almost the same for both a simulated motion on CRT and a robot motion.

Relevance to industry

In the future, robots will play important roles by assisting or cooperating with humans in various industrial fields. In such cases, a robot's motion must be well designed taking into account human perception. The results of the research will become an important guide for the design of a robot's motion.     

空气横掠顺列螺旋槽管和光管管束的传热特性

以横向管距、纵向管距以及管子的几何参数为研究对象，对顺列光管和螺旋槽管管束进行了横向冲刷换热及阻力试验研究，得出了换热和阻力关联式，为顺列布置的卧式螺旋槽管空气预热器的应用，尤其是为循环流化床锅炉的空气预热器提供了设计依据。图11表2参8     

基于有限元方法的横掠错排光滑管束传热与流动特性研究

使用有限元方法对横掠不同型式措排光滑管束进行了计算分析，绘制了速度场和温度场的色差梯度图，比较了它们的传热与流动性能。有限元分析方法作为热分析和流动分析研究的有力工具，可以与实验研究相结合作为研究管束传热与流动性能的一种新方法。研究结果对于横掠光滑管束的优化设计具有一定的指导意义。     

Criteria for the evaluation of damage and remaining life in reformer furnace tubes

The mechanisms of damage occurring in reformer furnace tubes are discussed, together with the methods of assessing the extent of damage and remaining life. The use of characteristic curves is described, these illustrating the extent of aging and the amount of the accumulated damage by creep. The application of a simplified evaluation method to a removed sample tube to provide rapid indication of the extent of damage is described, together with a radiographic procedure to evaluate the extent of creep cracking in the welds.     

顺列光管管束烟气颗粒通过率的研究

以不同管径、横向管距和纵向管距的顺列光管管束以及不同速度和粒径的飞灰颗粒为研究对象,通过数值计算,分析了烟气颗粒横掠顺列光管束的运动规律,建立了飞灰颗粒通过率的数学模型,为循环流化床锅炉尾部顺列布置的卧式空气预热器、过热器、再热器和省煤器的减轻磨损提供了设计依据。图6表1参2     

全位置TIG对接焊机工艺试验研究

为提高锅炉弯管(外径φ30 mm～φ80 mm)焊接自动化程度及接头质量,上海锅炉厂有限公司引进了2台全位置TIG对接焊机.通过对几种材料、几种规格、几种不同坡口型式的管子进行的大量焊接试验,最终确定了最佳的坡口型式及焊接工艺规范参数,且获得了焊缝表面成型美观、根部焊透性好、接头质量可靠等性质优良的焊接接头,为工厂生产应用打下了基础.     

夹层封闭空间热盘管传热性能的研究

通过对封闭夹层空间内置加热盘管的传热性能的机理分析和数值模拟计算，讨论了夹层的结构及盘管供水的热力工况等因素对传热性能的影响，并进行了实验测试验证。结果表明，盘管夹层内由于对流和辐射的综合作用，传热效果比同条件下纯导热作用大得多，这种结构用于干式地板采暖，实现低品位供热技术上是完全可行的。     

在水轮机射水补气高压水管道安装小型机组的研究

论述了在安康水电站220MW水轮机尾水管射水补气高压水管道上安装500kw小型机组的可行性、必要性以及可能取得的经济效益，并就存在问题指出了解决办法。