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101.
This paper proposes a tactile display providing both shear and normal feedback to the fingertip for generating three-axis tactile feedback during teleoperation of a surgical robot. The display is composed of five balloons actuated by controlling the pneumatic pressure. The implemented display is 18?mm?×?18?mm?×?15?mm. This size is suitable for mounting the display onto the master controls of a surgical robot. The maximum normal and shear displacements are 2 and 1.3?mm, respectively. The proposed tactile display may provide perceivable stimuli to a human finger pad in all five directions: normal, distal, proximal, radial, and ulnar. This paper also reports on the results of psychophysical measurement of the minimum perceivable movement of the developed tactile display for each of the five directions. 相似文献
102.
为提高节点在无线传感器网络中的自部署性能,本文以虚拟力导向粒子群算法为基石,在部署区域内,采用正方形网格划分方式,并引入一种改进的自适应差分进化策略,对原算法进行改进。改进算法引入了移动目的地对移动节点的引力作用,并通过自适应调整,有目的的向扩大网络覆盖率的目标进化,从而最大限度地优化节点的部署速度和网络的覆盖率。通过对该算法的性能进行了仿真与分析,在网络覆盖率、算法收敛速度以及部署时间等方面,相比于经典虚拟力算法及虚拟力导向粒子群算法,该算法具有更佳的部署性能。 相似文献
103.
The effects of the molecular weights (molecular weight of polystyrene, Mw,PS, varying from 2.9 to 129 k) on the surface morphologies of spin-coated and annealed polystyrene/poly (methyl methacrylate) (PS/PMMA=50/50, w/w) blend films were investigated by atomic force microscopy and X-ray photoelectron spectroscopy. For the spin-coated films, when the Mw,PS varied from 2.9 to 129 k, three different kinds of surface morphologies (a nanophase-separated morphology, a PMMA cellular or network-like morphology whose meshes filled with PS, a sea-island like morphology) were observed and their formation mechanisms are discussed, respectively. Upon annealing, two different morphology-evolution processes were observed. It is found that a upper PS-rich phase layer is formed when Mw,PS<4 k, and this behavior is mainly attributed to the low interfacial tension between PS and PMMA component. When Mw,PS>4 k, the PS-rich phase forms droplets on top of the PMMA-rich phase layer which wets the SiOx substrate. These results indicate that the surface morphology of the polymer blend films can be controlled by the polymer molecular weight and annealing conditions. 相似文献
104.
The effect of electrostatic and capillary forces on bumpy particle adhesion and removal in turbulent flows is studied. We use the JKR theory and account for the increase of adhesion by capillary force. The effects of electrostatic forces and nonlinear hydrodynamic drag are included in the analyses. The criteria for incipient rolling and sliding detachments and electrostatic lifting removal are evaluated. A turbulence burst model is used for evaluating the peak air velocity near the substrate. The critical shear velocities for detaching particles of different sizes under different conditions are evaluated. The electric field strength needed for electrostatic removal of particles with different charges is also estimated. The results are compared with those obtained in the absence of the capillary force. Comparisons of the model predictions with the available experimental data are also presented. 相似文献
105.
基于分级型模数转换器AD7884对分离脱落电连接器的分离力进行测量,采用8位单片机W77E58与之接口,进行数据处理并通过485串口传输到上位机。实现了对分离脱落电连接器的分离力进行测量,系统运行稳定,且与上位机数据交互简单、可靠。 相似文献
106.
浅析SRT-Ⅳ裂解炉炉管弯曲及断裂原因 总被引:1,自引:0,他引:1
主要分析计算了裂解炉炉管受力情况,进而得出结论:裂解炉自身结构的相互约束力和炉管渗碳是导致炉管弯曲、断裂的主要原因,并提出了相应的解决措施。 相似文献
107.
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109.
作者对精细化工发展的策略提出如下意见:①将项目为核心改成以技术为核心;②培植企业和部门的技术力量;③搞好行业内部、行业之间、企业内部的协调;④产品方案向横向、纵向延伸;⑤采取多种技术引进方式。 相似文献
110.
Brominated poly(isobutylene-co-4-methylstyrene) (BIMS) is a synthetic terpolymer which can be stoichiometrically cross-linked by N,N′-dicinnamylidene-1,6-hexanediamine (DIAK). The degree of cross-links on bulk samples was determined by measuring the low frequency shear modulus with parallel plate method. The surface modulus of the same samples was measured using a new method, shear modulation force microscopy (SMFM). The moduli of the bulk sample and the surface were found to have the same scaling with the cross-link density, and good agreement with rubber elasticity theory was obtained in both cases. The SMFM was then used to monitor the cross-linking process, as a function of DIAK concentration and curing time, in thin films where standard rheological methods cannot be applied. The results show that in all cases the cross-linking reaction at the surface reaches saturation in less than 10 min as compared to at least 1 h in the bulk samples. 相似文献