How to Control Robots Interacting with Dynamic Environment

The goal of this paper is to shed light on the control problem of constrained robot motion from the aspect of the dynamical nature of the environment with which the robot is in contact. Therefore, the criticism of traditional hybrid control which allows position/force feedback loops to split into independent control with respect to position and force, is not the main point we want to make. Reference to the papers written by the founders of hybrid control and their numerous followers served only to better understand the reason and motivation for suggesting a different approach to control of robots interacting with environment.The paper has a predominantly review character, based on recently published work. It also contains some new, unpublished results in the framework of the unified approach to the position/force control of robots, proposed by the present author and his co-workers. By pointing to the possibility of introducing an environment dynamics in the contact tasks of the machining type, the author emphasizes that the proposed dynamically interactive control can be applied to a completely different class of tasks, in which a contact is made between the system (constructions or structure) and very specific kinds of dynamic environments.     

用于多种组装技术的厚膜导体复合结构

厚膜导体Ｐｄ－Ａｇ／Ａｕ、Ｐｔ－Ｐｄ－Ａｕ／Ａｕ平面复合结构，Ｐｄ－Ａｇ／Ａｕ立体复合结构可使多种组装技术相互兼容。立体复合结构还可有效地降低导体线电阻，减少线损耗。而且，其超声键合性尤佳     

Characterization of hollow fiber membranes in a permeator using binary gas mixtures

We have studied the CO₂/CH₄ mixed gas permeation through hollow fiber membranes in a permeator. An approach to characterize the true separation performance of hollow fiber membranes for binary gas mixtures was provided based on experiments and simulations. Experiments were carried out to measure the retentate and permeate flow rates and compositions at each outlet. The influences of pressure drop within the hollow fibers, non-ideal gas behavior in the mixture and concentration polarization were taken into consideration in the mathematics model. The calculation results indicate that the net influence of the non-ideal gas behavior, competitive sorption and plasticization yields the calculated CO₂ permeance in a mixed gas permeator close to that obtained in pure gas tests. Whereas the CH₄ permeance is higher in the mixed gas tests than that in the pure gas tests, as the plasticization caused by CO₂ dominates the permeation process. As a result, the CO₂/CH₄ mixed gas selectivity is smaller than those obtained in pure gas tests at equivalent pressures.The calculated membrane performance shows little changes with stage cut if the effect of concentration polarization is accounted for in the calculation. The integration method developed in this study could provide more accurate characterizations of mixed gas permeance of hollow membranes than other estimation methods, as our model considers the roles of non-ideal gas behavior and concentration polarization properly.     

Three‐dimensionally braided carbon fiber–epoxy composites,a new type of material for osteosynthesis devices. I. Mechanical properties and moisture absorption behavior

In recent years, three‐dimensionally (3D) braided composites have attracted a great deal of attention because of their high‐impact damage tolerance and fatigue life, superior fracture toughness, and so forth, and have been used in aeronautics, military, and transportation. These advantages make them strong candidates for osteosynthesis devices. In this study, 3D braided carbon fiber–epoxy (C_3D/EP) composites were produced via a simple vacuum impregnation technique. The load‐deflection curve, mechanical properties, and influence of fiber volume fraction, braiding angle, and axial reinforcing fibers were examined to determine their suitability for internal fixation devices. It is found that the C_3D/EP composites have excellent toughness and do not show brittleness when fractured because of their relatively high void content. The flexural, shear, and impact strengths of the C_3D/EP composites are excellent. It was shown that a C_3D/EP composite with a stiffness similar to load‐bearing bones can be made while maintaining enough strength. It is concluded that a relatively higher void content and braiding angle is more suitable for the C_3D/EP composites from the viewpoint of requirements of fracture fixation materials. The moisture absorption behavior and changes in mechanical properties caused by moisture uptake were evaluated. Results show that absorbed moisture slightly decreases mechanical properties of the C_3D/EP composites. Contrary to the unreinforced epoxy, the moisture absorption behavior of the C_3D/EP composites cannot be described with Fick's law of diffusion, probably because of the presence of voids and/or 3D fiber structure. The exact mechanisms should be proposed in further investigations. © 2002 Wiley Periodicals, Inc. J Appl Polym Sci 85: 1031–1039, 2002     

Use of inverse gas chromatography to quantify interactions in amine cured epoxy resins

Flory–Huggins interaction parameters, λ, were determined for a series of probes in an amine cured epoxy resin matrix (433–493 K) and its precursors (324–363 K) by inverse gas chromatography (IGC). Hildebrand–Scatchard theory was combined with Flory–Huggins theory in order to estimate infinte dilution solubility parameters (δ₂) for the matrix and its precursors at 298 K. It was shown that the value of the solubility parameter for the cured resin matrix lies between those of its precursors. Compared to the majority of published work, an unusual aspect of this application of IGC is that solubility parameters have been determined when the stationery phases are (i) small molecules and (ii) a highly crosslinked polymer. Moreover, all possible attempts have been made to ensure equilibrium conditions between probe and stationary phase, and compensation for asymmetry of peak profile has been applied in determining δ₂. The solubility parameters estimated by IGC are in good agreement with those calculated by other methods.     

On the curing of a vinylester-urethane hybrid resin

Curing kinetics of a vinylester-urethane hybrid (VEUH) resin consisting of vinylester resin (VE) diluted in styrene and novolac type polyisocyanate (NPI) have been studied by differential scanning calorimetry (DSC). As VEUH is crosslinked via free radical polymerisation between the vinyl functions of styrene and VE, and polyaddition reaction between the secondary -OH groups of VE and -NCO of NPI, it was necessary to study these reactions separately. This was achieved by studying the curing with and without incorporating the NPI. The curing reaction was monitored by measuring the heat of reaction under isothermal and dynamic temperature conditions. Models describing the curing were developed, which are in good agreement with the experiments. A comparison between the curing of the VEUH and the VE resin without NPI leads to the conclusion that the curing of the VEUH as accessed by DSC is dominated by the radical polymerisation of styrene with VE although the two reactions are not time separated.     

碳纤维表面处理对铝电解用硼化钛阴极涂层性能的影响

硼化钛阴极涂层是铝电解用可润湿性阴极材料中的一种，具有优良的抗钠渗透性和对铝液润湿性，可以有效地延长铝电解槽寿命。碳纤维是硼化钛涂层材料的增强剂之一．对硼化钛阴极涂层的性能影响很大。本文研究了不同工艺的液相碳纤维表面氧化处理法对硼化钛阴极涂层抗拉强度和粘接强度的影响。采用PTIR检测碳纤维处理后表面含氧基团的变化，寻找影响硼化钛阴极涂层性能的原因，从而达到最有效地提高TiB2阴极涂层抗拉强度和粘接强度的目的。结果表明，采用工艺(1)(10％HNO3，80℃、恒温5min．超声波、5min)对碳纤维进行表面处理最合理，处理后碳纤维表面含氧基团的含量最高．用其制备硼化钛阴极涂层的抗拉强度、粘接强度最大。     

n-Al2O3/Ni复合镀层的组织与滑动磨损性能研究

用电刷镀技术制得了镍基n-Al2O3复合镀层，并对镀层的滑动磨损性能进行了试验研究。纳米复合镀层的表面形貌比较细腻，镀层中纳米粒子分布均匀，与基质金属结合紧密。镀层显微硬度达到HV700，比快速镍镀层提高约40％。滑动磨损试验结果表明，随着纳米粒子含量的增大，镀层的耐磨性提高，摩擦系数也呈增大趋势；但当镀层中n-Al2O3粒子的超过2.56%(质量分数）时，镀层的耐磨性显著下降。纳米复合镀层的磨损机制以疲劳磨损为主，而快速镍底层以粘着磨损为主。     

混凝土芯砂石桩复合地基加固堤防软基试验研究

介绍了一种新型的地基处理方法——混凝土芯砂石桩复合地基法及其在水利防洪堤软基加固工程中的应用情况。通过现场原位观测和试验,研究了混凝土芯砂石桩复合地基固结变形、孔压消散、桩土应力分担及承载力特性,结果表明混凝土芯砂石桩强度高,排水固结能力强,能迅速提高桩间土强度和承载力,应用于水利堤防工程既能控制堤防深厚软基的工后沉降,又能提高堤防边坡的稳定性,推广应用前景良好。