An improved hybrid position/force controller design of a flexible robot manipulator is presented using a sliding observer. The friction between the end effector and the environment is considered and compensated. For s...An improved hybrid position/force controller design of a flexible robot manipulator is presented using a sliding observer. The friction between the end effector and the environment is considered and compensated. For systematic reasons the controller is designed taking into consideration the rigid link subsystems and the flexible joints. The proposed control system satisfies the stability of the two subsystems and copes with the uncertainty of robot dynamics. A sliding observer is designed to estimate the time derivative of the torque applied as input to the rigid part of the robot. For the stability of the observer, it is assumed that the uncertainty of the observed system is bounded. A MRAC algorithm is used for the estimation of the friction forces at the contact point between the end effector and the environment. Finally simulation and experimental results are given, to demonstrate the effectiveness of the proposed controller.展开更多
In order to evaluate the seismic stability of reinforced soil walls against bearing capacity failure,the seismic safety factor of reinforced soil walls was determined by using pseudo-dynamic method,and calculated by c...In order to evaluate the seismic stability of reinforced soil walls against bearing capacity failure,the seismic safety factor of reinforced soil walls was determined by using pseudo-dynamic method,and calculated by considering different parameters,such as horizontal and vertical seismic acceleration coefficients,ratio of reinforcement length to wall height,back fill friction angle,foundation soil friction angle,soil reinforcement interface friction angle and surcharge.The parametric study shows that the seismic safety factor increases by 24-fold when the foundation soil friction angle varies from 25°to 45°,and increases by 2-fold when the soil reinforcement interface friction angle varies from 0 to 30°.That is to say,the bigger values the foundation soil and/or soil reinforcement interface friction angles have,the safer the reinforced soil walls become in the seismic design.The results were also compared with those obtained from pseudo-static method.It is found that there is a higher value of the safety factor by the present work.展开更多
The adsorption of dedecyltrimethylammoium chloride(DTAC) and hexadecyltrimethylammoium chloride(CTAC) on muscovite mica substrates was examined using atomic force microscopy(AFM). Adsorption morphology images and inte...The adsorption of dedecyltrimethylammoium chloride(DTAC) and hexadecyltrimethylammoium chloride(CTAC) on muscovite mica substrates was examined using atomic force microscopy(AFM). Adsorption morphology images and interaction forces of cationic surfactants at solid-solution interfaces were measured in tapping mode and Pico Force mode, respectively. The images demonstrated that the adsorbed structure was varied by a variety of surfactant concentrations. The adsorbed layer on mica was monolayer at first, and then became bilayer. A striped adsorbed structure was observed in a higher concentration of CTAC,which could not be found in any other concentrations of DTAC. For force measurements, the repulsive force was exponentially decreasing with the concentration increasing till a net attractive force appeared. A largest attractive force could be observed at a certain concentration, which was close to the point of charge neutralization. The results also showed a significant impact of hydrocarbon chain length on adsorption. An adsorption simulation was established to give a clear understanding of the interaction between cationic surfactants and mica.展开更多
Comments are given on the various physical definitions of the force constant of propellant. As there are more or less defects in these definitions, two new definitions are presented to reflect the physical essence of ...Comments are given on the various physical definitions of the force constant of propellant. As there are more or less defects in these definitions, two new definitions are presented to reflect the physical essence of propellant force more perfectly and could well compatible with the mathematical expression.展开更多
In this paper the hit force of firing bullet on bulletproof helmet has been computed and the test device has been described. The device is divided into two parts: 1) The bullet, helmet and mould are in one system, u...In this paper the hit force of firing bullet on bulletproof helmet has been computed and the test device has been described. The device is divided into two parts: 1) The bullet, helmet and mould are in one system, using moment theorem to calculate the hit force; 2) The mould, sensor and support pole are in one system, using the method in reference [1] that measures the dynamic strain and displacement of simulate target of bulletproof clothes. We compute the transfigure energy and momentum energy when hitting the mould, the work done by the sensor and the expend energy of support pole. We get the hit force of helmet using energy balance principle. The result is according with the test and has been used to design the GGK93T bulletproof helmet and other serial products.展开更多
The physical stability of solid-liquid fuel is a factor that needs to be considered for fuel product practicability for storage and transportation. To determine the Influence of liquid bridge force on physical stabili...The physical stability of solid-liquid fuel is a factor that needs to be considered for fuel product practicability for storage and transportation. To determine the Influence of liquid bridge force on physical stability, two detection devices were designed. The laws obtained from microscopic experiments are used to verify the physical stability of fuel under different component ratios. The liquid bridge force is found to increase with the droplet volume. Multiliquid bridges above one critical saturation can generate significant resultant forces compared to single-liquid bridges of the same volume. There exist four states of solid-liquid mixed fuel with increasing liquid saturation rate. The liquid bridge force between the solid and liquid plays a dominant role in the physical stability of the first three states. There may be two stages involved in the stratification process for state 4 fuel, and the liquid viscosity is another factor that cannot be ignored. In the process of selecting a fuel ratio, a larger liquid bridge force between the components can be obtained by properly improving the wetting effect so that the fuel shows better physical stability.展开更多
研究发现,Linux的内核模块具有良好的可控性而Linux的软中断具有极强的实时性。提出把两者有机地结合起来作为逻辑功能块(Logical Functional B lock,LFB)的实现机制,并用流标识号(PkfID)来描述LFB。实验表明采用这种方法实现的LFB能很...研究发现,Linux的内核模块具有良好的可控性而Linux的软中断具有极强的实时性。提出把两者有机地结合起来作为逻辑功能块(Logical Functional B lock,LFB)的实现机制,并用流标识号(PkfID)来描述LFB。实验表明采用这种方法实现的LFB能很好地满足ForCES需求(RFC 3654)。展开更多
As is known to all, grinding force is one of the most important parameters to evaluate the whole process of grinding. Generally, the grinding force is resolved to three component forces, namely, normal grinding force ...As is known to all, grinding force is one of the most important parameters to evaluate the whole process of grinding. Generally, the grinding force is resolved to three component forces, namely, normal grinding force F n, tangential grinding force F t and a component force acting along the direction of longitudinal feed which is usually neglected because of insignificance. The normal grinding force F n has influence upon surface deformation and roughness of workpiece, while the tangential grinding force F t mainly affect power consumption and service life of grinding wheel. In order to study deep into the process of the unsteady state grinding, we set up a measurement system to monitor the change of grinding force during the course of grinding and try to find some difference in the change of grinding force between the steady state grinding and unsteady state grinding. In the test, the normal and tangential grinding forces, F n and F t were measured by using a set of equipments including sensor, amplifier, oscilloscope and computer monitor. From the results, we can conclude that: 1) In the unsteady state grinding process, the values of the grinding forces are much lower than those of the steady state grinding process and the grinding force ratio showed a nonlinear fluctuation. 2) The tendency of the grinding forces in the process of the unsteady state grinding proved the existence of the cutting and micro-cutting actions. 3) Because the grinding force signals of the unsteady state grinding are much weaker than those of the steady state grinding, to obtain accurate value of the grinding forces, wave filtering is needed to be done. The whole process to filter the perturbation wave can be separated into three steps in order, changing the grinding force signals from analog signals into digital signals, FFT (fast Fourier transform) treatment to the digital signals, and IFFT(inversion fast Fourier transform) treatment to the digital signals after spectrum limitation.展开更多
文摘An improved hybrid position/force controller design of a flexible robot manipulator is presented using a sliding observer. The friction between the end effector and the environment is considered and compensated. For systematic reasons the controller is designed taking into consideration the rigid link subsystems and the flexible joints. The proposed control system satisfies the stability of the two subsystems and copes with the uncertainty of robot dynamics. A sliding observer is designed to estimate the time derivative of the torque applied as input to the rigid part of the robot. For the stability of the observer, it is assumed that the uncertainty of the observed system is bounded. A MRAC algorithm is used for the estimation of the friction forces at the contact point between the end effector and the environment. Finally simulation and experimental results are given, to demonstrate the effectiveness of the proposed controller.
文摘In order to evaluate the seismic stability of reinforced soil walls against bearing capacity failure,the seismic safety factor of reinforced soil walls was determined by using pseudo-dynamic method,and calculated by considering different parameters,such as horizontal and vertical seismic acceleration coefficients,ratio of reinforcement length to wall height,back fill friction angle,foundation soil friction angle,soil reinforcement interface friction angle and surcharge.The parametric study shows that the seismic safety factor increases by 24-fold when the foundation soil friction angle varies from 25°to 45°,and increases by 2-fold when the soil reinforcement interface friction angle varies from 0 to 30°.That is to say,the bigger values the foundation soil and/or soil reinforcement interface friction angles have,the safer the reinforced soil walls become in the seismic design.The results were also compared with those obtained from pseudo-static method.It is found that there is a higher value of the safety factor by the present work.
基金Project(50974134)supported by the National Natural Science Foundation of China
文摘The adsorption of dedecyltrimethylammoium chloride(DTAC) and hexadecyltrimethylammoium chloride(CTAC) on muscovite mica substrates was examined using atomic force microscopy(AFM). Adsorption morphology images and interaction forces of cationic surfactants at solid-solution interfaces were measured in tapping mode and Pico Force mode, respectively. The images demonstrated that the adsorbed structure was varied by a variety of surfactant concentrations. The adsorbed layer on mica was monolayer at first, and then became bilayer. A striped adsorbed structure was observed in a higher concentration of CTAC,which could not be found in any other concentrations of DTAC. For force measurements, the repulsive force was exponentially decreasing with the concentration increasing till a net attractive force appeared. A largest attractive force could be observed at a certain concentration, which was close to the point of charge neutralization. The results also showed a significant impact of hydrocarbon chain length on adsorption. An adsorption simulation was established to give a clear understanding of the interaction between cationic surfactants and mica.
文摘Comments are given on the various physical definitions of the force constant of propellant. As there are more or less defects in these definitions, two new definitions are presented to reflect the physical essence of propellant force more perfectly and could well compatible with the mathematical expression.
文摘In this paper the hit force of firing bullet on bulletproof helmet has been computed and the test device has been described. The device is divided into two parts: 1) The bullet, helmet and mould are in one system, using moment theorem to calculate the hit force; 2) The mould, sensor and support pole are in one system, using the method in reference [1] that measures the dynamic strain and displacement of simulate target of bulletproof clothes. We compute the transfigure energy and momentum energy when hitting the mould, the work done by the sensor and the expend energy of support pole. We get the hit force of helmet using energy balance principle. The result is according with the test and has been used to design the GGK93T bulletproof helmet and other serial products.
基金financial support from National Natural Science Foundation of China (Grant No. 12102197)。
文摘The physical stability of solid-liquid fuel is a factor that needs to be considered for fuel product practicability for storage and transportation. To determine the Influence of liquid bridge force on physical stability, two detection devices were designed. The laws obtained from microscopic experiments are used to verify the physical stability of fuel under different component ratios. The liquid bridge force is found to increase with the droplet volume. Multiliquid bridges above one critical saturation can generate significant resultant forces compared to single-liquid bridges of the same volume. There exist four states of solid-liquid mixed fuel with increasing liquid saturation rate. The liquid bridge force between the solid and liquid plays a dominant role in the physical stability of the first three states. There may be two stages involved in the stratification process for state 4 fuel, and the liquid viscosity is another factor that cannot be ignored. In the process of selecting a fuel ratio, a larger liquid bridge force between the components can be obtained by properly improving the wetting effect so that the fuel shows better physical stability.
文摘研究发现,Linux的内核模块具有良好的可控性而Linux的软中断具有极强的实时性。提出把两者有机地结合起来作为逻辑功能块(Logical Functional B lock,LFB)的实现机制,并用流标识号(PkfID)来描述LFB。实验表明采用这种方法实现的LFB能很好地满足ForCES需求(RFC 3654)。
文摘As is known to all, grinding force is one of the most important parameters to evaluate the whole process of grinding. Generally, the grinding force is resolved to three component forces, namely, normal grinding force F n, tangential grinding force F t and a component force acting along the direction of longitudinal feed which is usually neglected because of insignificance. The normal grinding force F n has influence upon surface deformation and roughness of workpiece, while the tangential grinding force F t mainly affect power consumption and service life of grinding wheel. In order to study deep into the process of the unsteady state grinding, we set up a measurement system to monitor the change of grinding force during the course of grinding and try to find some difference in the change of grinding force between the steady state grinding and unsteady state grinding. In the test, the normal and tangential grinding forces, F n and F t were measured by using a set of equipments including sensor, amplifier, oscilloscope and computer monitor. From the results, we can conclude that: 1) In the unsteady state grinding process, the values of the grinding forces are much lower than those of the steady state grinding process and the grinding force ratio showed a nonlinear fluctuation. 2) The tendency of the grinding forces in the process of the unsteady state grinding proved the existence of the cutting and micro-cutting actions. 3) Because the grinding force signals of the unsteady state grinding are much weaker than those of the steady state grinding, to obtain accurate value of the grinding forces, wave filtering is needed to be done. The whole process to filter the perturbation wave can be separated into three steps in order, changing the grinding force signals from analog signals into digital signals, FFT (fast Fourier transform) treatment to the digital signals, and IFFT(inversion fast Fourier transform) treatment to the digital signals after spectrum limitation.
