Segmented polymer networks containing amino‐dendrimers

Polymer networks in which poly(propylene imine) dendrimers (Astramol?) are connected to each other by linear polytetrahydrofuran (polyTHF) segments, were prepared by two methods. The first method was a one‐step procedure in which bifunctionally living polyTHF, obtained by initiation of the THF polymerization with trifluoromethane sulfonic anhydride (triflic anhydride), was reacted with an amino‐dendrimer. This reaction was very fast but did not allow formation of the end products. The second method was a two‐step procedure. In a first step, living polyTHF, prepared with acryloyloxybutyl triflate as initiator, was grafted on an amino‐dendrimer, to form a star‐like, acrylate‐terminated polyTHF multi‐macromonomer with the dendrimer as core. In a second step, networks were obtained by Michael addition between the acrylate end‐groups and unreacted amino‐groups of the dendrimer. This cross‐linking reaction occurred spontaneously upon heating of the solution of the multi‐macromonomer with gelation times varying from a few minutes to a few hours, depending on the temperature and the composition of the prepolymers. With this method it was possible to prepare networks in the form of coatings or films. © 2003 Society of Chemical Industry     

井下煤仓全深度分段爆破成井技术

介绍了在煤矿现有设备条件下，全深度一次钻孔分段爆破掘进煤仓的设计与应用情况，论述了爆破方案确定，参数设计及主要措施，通过实践取得了良好效果。     

氯酸钾－木炭系与铅丹－硅系引火药头对铁脚线桥脚锈蚀的影响

文中分析和探讨了氯酸钾－木炭系引火药头的锈蚀问题，进而提出了铅丹－硅系引火药头，并经贮存实验表明后者对于克服前者的锈蚀问题有明显的作用。     

基于空洞模型的地理位置路由改进算法研究

针对现有WSN中地理位置路由遇路由空洞后会产生冗余路由的问题,提出一种基于感知空洞形状的分段贪婪路由(Easy Modeling Greedy Routing,EMGR)算法。EMGR引入虚拟坐标概念,利用空洞边界探测包收集空洞边界节点信息,将其映射到虚拟坐标系中;根据空洞边界节点在虚拟坐标系的不同分布,定义凹、凸域来概括路由空洞形状;根据不同的空洞形状找到合适的中转节点,采用分段贪婪路由方式传输数据。仿真实验结果表明,相较于GPSR算法,EMGR算法产生的路由跳数减少了35%,网络能耗低,路径扩张率和网络时延小。     

Bionic Design and Simulation Analysis of Energy-Efficient and Vibration-Damping Walking Mechanism

节能减振步行机构的仿生设计及仿真分析

张锐¹,庞浩¹,何远^1,2,韩佃雷¹,文立阁³,江磊⁴,李建桥¹

（1. 吉林大学 工程仿生教育部重点实验室,长春 130022;

2. 长春长光睿视光电技术有限责任公司,长春 130102;

3. 吉林大学 机械与航天工程学院,长春 130022;

4. 中国北方车辆研究所,北京 100072）

摘要：非洲鸵鸟能以60 km/h的速度持续奔跑30分钟,其后肢结构具有优良的节能、减振性能。为实现腿式机器人高效节能、缓冲减振的腿部机构的设计,根据鸵鸟跗骨间关节的被动回弹特性以及腿部的输出刚度可变特性,结合鸵鸟后肢结构的比例和尺寸,设计出了仿生刚-柔复合腿式机器人单腿结构。并且利用ADAMS软件模拟了仿生机械腿的运动。通过运动仿真分析,研究了内弹簧刚度系数在一定范围内的变化对机身质心垂直加速度以及电机功耗的影响,获得最佳的内弹簧刚度系数为200 N/mm,并进一步验证了内外弹簧机制能够有效地降低机械腿的能耗。仿真结果表明,采用内外弹簧机制能够有效降低电机约72.49%能耗。

关键词：工程仿生;仿生机械腿;被动回弹特性;刚-柔复合结构;节能减振

     

Gas-liquid mass transfer in taylor flow through a capillary

The gas-liquid mass transfer in two-phase flow through a capillary has been measured for water-air, ethanol-air and ethylene glycol-air systems. A semi-theoretical model has been developed and compared with experimental results. and a full computer simulations of the flow pattern and mass transfer using a flow simulation program have been made. The measured values are about 30% less than the calculated values.     

退火对PMTFPS-b-PS电纺膜表面性质的影响

通过氟硅单体1,3,5-三甲基-1,3,5-三（3,3,3-三氟丙基）环三硅氧烷（简称F3）的阴离子开环聚合（ROP）、苯乙烯（St）的原子转移自由基聚合（ATRP）,合成了含氟硅嵌段共聚物PMTFPS-b-PS,并将其以四氢呋喃（THF）和N,N-二甲基甲酰胺（DMF）为溶剂进行静电纺丝。采用接触角测量仪（CAM）、扫描电镜（SEM）、X射线光电子能谱（XPS）研究PMTFPSb-PS电纺膜退火前后的疏水性、微观形貌以及表面化学组成。结果表明：电纺纤维的水接触角可达152.6°,即达到超疏水的效果,经过120℃退火处理后电纺膜的表面光滑,接触角有所减小,但其水接触角仍远高于共聚物溶剂膜的接触角。     

定子无磁轭模块化轴向磁通永磁电机研究进展综述

定子无磁轭模块化(yokeless and segmented armature,YASA)轴向磁通永磁电机具有功率密度和转矩密度高、效率高、轴向结构紧凑、易于维修的优点,在电动汽车、风力发电等领域有广阔的应用前景,已有大量文献对YASA电机进行分析研究。该文基于国内外对YASA电机已开展的研究工作,介绍该类电机的典型拓扑结构,并从电机电磁特性计算方法与性能优化、损耗分析与抑制技术、温升与散热研究、齿槽转矩削弱技术、结构强度校核与制造偏差分析,以及定子铁心材料选取等方面进行综述,并对该类电机当前的应用情况进行整理。最后,基于YASA电机的研究现状,对未来研究的发展趋势进行展望。     

基于能耗优化的六足机器人摆动腿轨迹规划

以六足机器人单腿为研究对象,研究机器人摆动腿轨迹规划问题.由于摆动要消耗能量,所以提出了一种基于能耗优化的轨迹规划方案.结合以D-H法建立的机器人单腿运动学模型和腿部位置、速度、加速度等约束,采用多项式插值法在关节空间对机器人摆动腿进行轨迹规划.在考虑直流电机有效功率和热损耗的基础上,通过遗传算法对非线性等式和不等式约束下的非线性规划问题进行求解.仿真结果表明,所设计的方案能有效降低摆动腿能量消耗并保证轨迹连续平滑.     

Application of parallel mechanism in varistructured quadruped/biped human-carrying walking chair robot

For the existing problems of walking chair robot such as simple function,lower bearing capacity and not walking in complex environment,a novel varistructured quadruped / biped human-carrying walking chair robot is proposed.The proposed robot could be used as biped and quadruped walking chair robots.Considering the conversion of the walking chair robot from the quadruped to the biped or vice versa,6-UPS and 2-UPS+UP(U,P and S are universal joint,the prismatic pair,and sphere joint,respectively) parallel mechanisms are selected as the leg mechanism of the biped walking robot and quadruped walking robot,respectively.Combining the screw theory and theory of mechanism,the degrees of freedom of the leg mechanism and the body mechanism in diferent motion states are computed so as to meet the requirements of mechanism design.The motion characteristics of the 2-UPS+UP parallel mechanism which is the key part of the walking chair robot are analyzed.Then,the workspace of the moving platform is drawn and the efect of the structural parameters on the workspace volume is studied.Finally,it is found that the volume of the workspace of the moving platform is bigger when the side length ratio and the vertex angle ratio of the fxed platform and the moving platform which are isosceles triangles are close to 1.This study provides a theoretical foundation for the prototype development.