Metal Additive Manufacturing(MAM) technology has become an important means of rapid prototyping precision manufacturing of special high dynamic heterogeneous complex parts. In response to the micromechanical defects s...Metal Additive Manufacturing(MAM) technology has become an important means of rapid prototyping precision manufacturing of special high dynamic heterogeneous complex parts. In response to the micromechanical defects such as porosity issues, significant deformation, surface cracks, and challenging control of surface morphology encountered during the selective laser melting(SLM) additive manufacturing(AM) process of specialized Micro Electromechanical System(MEMS) components, multiparameter optimization and micro powder melt pool/macro-scale mechanical properties control simulation of specialized components are conducted. The optimal parameters obtained through highprecision preparation and machining of components and static/high dynamic verification are: laser power of 110 W, laser speed of 600 mm/s, laser diameter of 75 μm, and scanning spacing of 50 μm. The density of the subordinate components under this reference can reach 99.15%, the surface hardness can reach 51.9 HRA, the yield strength can reach 550 MPa, the maximum machining error of the components is 4.73%, and the average surface roughness is 0.45 μm. Through dynamic hammering and high dynamic firing verification, SLM components meet the requirements for overload resistance. The results have proven that MEM technology can provide a new means for the processing of MEMS components applied in high dynamic environments. The parameters obtained in the conclusion can provide a design basis for the additive preparation of MEMS components.展开更多
The energy release of energetic composites is severely limited by the inert alumina(Al_(2)O_(3))layer on the surface of aluminum(Al).Polytetrafluoroethylene(PTFE)could eliminate Al_(2)O_(3)layer due to its highly elec...The energy release of energetic composites is severely limited by the inert alumina(Al_(2)O_(3))layer on the surface of aluminum(Al).Polytetrafluoroethylene(PTFE)could eliminate Al_(2)O_(3)layer due to its highly electronegativity and oxidability of fluorine.However,adding PTFE particles would weaken interfacial interactions resulted in poor mechanical properties and interfacial exothermic reaction.Herein,a bridging Al-PTFE as fuel and interfacial reinforcing agent was added and used to prepare LLM-105/AlPTFE microspheres,achieving both high energy output and excellent mechanical properties.The energy release and combustion reaction performance of LLM-105/Al-PTFE microspheres are significantly improved due to high reaction heat and increased interfacial reaction area of Al-PTFE.The maximum pressure and pressurization rate of LLM-105/Al-PTFE microspheres are 164.06 kPa and 29.88 kPa/s,respectively,which are 40.11%and 16.67%higher than those of physical mixed samples.Furthermore,the tensile strength and compressive strength of LLM-105/Al-PTFE microspheres are 100.40%and 26.47%higher than those of LLM-105/Al.This work provides a new approach to improve the energy release and mechanical properties for energetic composites.展开更多
Aluminum(Al)powder is widely applied in thermobaric explosives due to its high energy density and favorable reaction kinetics.However,the inert oxide layer(Al_(2)O_(3))on Al particles limits combustion reactivity and ...Aluminum(Al)powder is widely applied in thermobaric explosives due to its high energy density and favorable reaction kinetics.However,the inert oxide layer(Al_(2)O_(3))on Al particles limits combustion reactivity and energy efficiency.Fluoride-based surface modification has been developed as an effective approach to address this issue.Here,four classical fluoropolymers(F11,F14,PVDF,PTFE)are employed as coatings to prepare core-shell Al/Fluoropolymer.The combustion experimental results demonstrate that the core-shell Al/PTFE exhibits the highest flame propagation rate(52.88 mm·ms^(-1))and pressure output(109.02 k Pa)performance.Consequently,core-shell Al/PTFE is selected as a high-energy fuel to prepare RDX/Al/PTFE microspheres via the emulsion and solvent evaporation method,which can enhance the energy performance of RDX.The effects of the core-shell Al/PTFE ratio and RDX content on the combustion heat and pressure output are systematically investigated.The peak pressure reaches a maximum of 187.8 k Pa when the mass ratio of RDX,Al,and PTFE is 60:25:10.Additionally,RDX/Al/PTFE microspheres exhibit significantly higher laser-induced air shock velocities,detonation heat,and detonation pressure than those of pure RDX and RDX/Al.The mechanism underlying the enhanced reactivity and energetic performance is attributed to the ability of PTFE to etch the inert Al_(2)O_(3)shell on the surface of Al particles,thereby improving post-combustion reactions and significantly increasing the overall energy output of RDX explosives.This work offers a novel design strategy for high-energy structural thermobaric explosives for the practical applications.展开更多
This study investigates the paradoxical detonation behavior of TKX-50,a nitrogen-rich energetic material,exhibiting higher detonation velocities but lower metal acceleration ability compared to HMX.Through experimenta...This study investigates the paradoxical detonation behavior of TKX-50,a nitrogen-rich energetic material,exhibiting higher detonation velocities but lower metal acceleration ability compared to HMX.Through experimental measurements and theoretical calculations,we propose a novel three-factor competition mechanism to explain this phenomenon.TKX-50-based PBX formulations achieved detonation velocities up to 9100 m/s,surpassing HMX-based counterparts.However,cylinder expansion tests revealed a 15%reduction in metal acceleration ability.Thermochemical measurements showed lower detonation heat for TKX-50(4900 J/g)versus HMX(5645 J/g).Our mechanism involves:(1)compositional effects prevailing at high pressures;(2)Energy release becoming essential as pressure drops;(3)Pressure-dependent product composition evolution functioning at low pressure.VLW code calculations unveiled a"crossover"in Hugoniot curves,lending support to this mechanism.This study furnishes a new framework for comprehending the performance of nitrogen-rich energetic materials,with significant implications for the design and optimization of future high-energy density materials.展开更多
A typical Whipple shield consists of double-layered plates with a certain gap.The space debris impacts the outer plate and is broken into a debris cloud(shattered,molten,vaporized)with dispersed energy and momentum,wh...A typical Whipple shield consists of double-layered plates with a certain gap.The space debris impacts the outer plate and is broken into a debris cloud(shattered,molten,vaporized)with dispersed energy and momentum,which reduces the risk of penetrating the bulkhead.In the realm of hypervelocity impact,strain rate(>10^(5)s^(-1))effects are negligible,and fluid dynamics is employed to describe the impact process.Efficient numerical tools for precisely predicting the damage degree can greatly accelerate the design and optimization of advanced protective structures.Current hypervelocity impact research primarily focuses on the interaction between projectile and front plate and the movement of debris cloud.However,the damage mechanism of debris cloud impacts on rear plates-the critical threat component-remains underexplored owing to complex multi-physics processes and prohibitive computational costs.Existing approaches,ranging from semi-empirical equations to a machine learningbased ballistic limit prediction method,are constrained to binary penetration classification.Alternatively,the uneven data from experiments and simulations caused these methods to be ineffective when the projectile has irregular shapes and complicate flight attitude.Therefore,it is urgent to develop a new damage prediction method for predicting the rear plate damage,which can help to gain a deeper understanding of the damage mechanism.In this study,a machine learning(ML)method is developed to predict the damage distribution in the rear plate.Based on the unit velocity space,the discretized information of debris cloud and rear plate damage from rare simulation cases is used as input data for training the ML models,while the generalization ability for damage distribution prediction is tested by other simulation cases with different attack angles.The results demonstrate that the training and prediction accuracies using the Random Forest(RF)algorithm significantly surpass those using Artificial Neural Networks(ANNs)and Support Vector Machine(SVM).The RF-based model effectively identifies damage features in sparsely distributed debris cloud and cumulative effect.This study establishes an expandable new dataset that accommodates additional parameters to improve the prediction accuracy.Results demonstrate the model's ability to overcome data imbalance limitations through debris cloud features,enabling rapid and accurate rear plate damage prediction across wider scenarios with minimal data requirements.展开更多
The impact safety of explosive charges has been focused in these decades. The fragment impact is widely used to evaluate the response of explosive charges. In our work, the explosive detonation driving technique was u...The impact safety of explosive charges has been focused in these decades. The fragment impact is widely used to evaluate the response of explosive charges. In our work, the explosive detonation driving technique was used to generate a high velocity fragment with large mass. When the fragment masses are10 g, 16 g, 25 g, and 50 g, the highest velocity of fragments can reach 2400 m/s, 2100 m/s, 1900 m/s, and1400 m/s, respectively. The high velocity fragment with large mass was used to evaluate the safety of two kinds of CL-20 based explosive charges. The effects of the fragment mass and velocity were analyzed.Especially, the reaction extent was obtained based on visible phenomenon. The CL-20-based explosive charge containing Al had a higher safety level than that without Al. It was because Al had good ductility,and further improved the mechanical property of the material. Also, the numerical simulation was conducted to understand the reaction characteristics of the CL-20-based explosive charge. The results showed that as the fragment mass and velocity increased, the reaction became more violent.展开更多
CAB is a binder commonly utilized in CL-20-based mixed explosives.Based on the requirements of CL-20-based polymer bonded explosives in formability,safety,and detonation energy,we explored a hightoughness and low dosa...CAB is a binder commonly utilized in CL-20-based mixed explosives.Based on the requirements of CL-20-based polymer bonded explosives in formability,safety,and detonation energy,we explored a hightoughness and low dosage CAB binder system.CAB was subjected to different toughening modifications and the effects of the modified CAB binders on the bonding and coating of CL-20 crystals,as well as the formability,safety,and mechanical properties of CL-20-based polymer bonded explosive molding powder(MP)were evaluated.The changes in glass transition temperature(Tg)and mechanical properties of the modified binders were investigated using the molecular dynamics simulation at first.A series of modified binders with different molecular weights were then synthesized and characterized by FTIR,1H NMR,^(13)C NMR and SEC.The T_(g) and cross-sectional morphologies of the binder membranes were determined by DSC and SEM.The tensile properties of the binder membranes with different molecular weights and their mixtures with the plasticizer were evaluated at different temperature.With the optimized modified binder,CL-20/CAB and CL-20/CAB-g-PCL-3 MPs with the same plasticizer ratio and Cl-20/CAB-g-PCL-3 MP with a lower plasticizer ratio and higher CL-20 content were prepared and evaluated for the bonding and coating effects,crystal form,mechanical sensitivity and specific heat capacity(C_(p))by SEM,XRD,sensitivity testing and DSC,respectively.Their compressive strengths and splitting tensile strengths were measured at different temperature using a universal testing machine.Our work has provided a high-toughness and low-dosage binder system for CL-20-based MPs and offers a novel strategy to improve the formability,safety,and energy of CL-20 based polymer bonded explosives.展开更多
Under the background of vigorously developing facilities of island/reef in the world,the economic value and strategic significance of the island/reef have become increasingly important.Unfortunately,they may easily be...Under the background of vigorously developing facilities of island/reef in the world,the economic value and strategic significance of the island/reef have become increasingly important.Unfortunately,they may easily become the attacking target of missiles in the war time.Therefore,aiming at the damage quantification of the targets in the island/reef under the missile attacking,a macroscopic damage assessment model for the target area is proposed in this paper.The model focuses on the construction of the assessment model framework.Firstly,the analytic hierarchy process and the grey relational analysis are applied to measure the importance of each target in the region through four indicators of the target hazard,striking urgency,damage advantage and mission relevance,respectively.Secondly,based on the damage mechanism of shock wave and fragments to target,the corresponding damage model is established,and the damage grade of each target in the evaluated area is obtained according to the damage criteria and grading standard.Finally,the model obtains the overall damage grade of the target area by employing the fuzzy comprehensive evaluation method,with synthesizing the importance and the damage grade of each target.Through the verification of an example,it demonstrates the certain feasibility of the model and provides a certain basis and reference for the subsequent research.展开更多
With the increasing number of vehicles,manual security inspections are becoming more laborious at road checkpoints.To address it,a specialized Road Checkpoints Robot(RCRo)system is proposed,incorporated with enhanced ...With the increasing number of vehicles,manual security inspections are becoming more laborious at road checkpoints.To address it,a specialized Road Checkpoints Robot(RCRo)system is proposed,incorporated with enhanced You Only Look Once(YOLO)and a 6-degree-of-freedom(DOF)manipulator,for autonomous identity verification and vehicle inspection.The modified YOLO is characterized by large objects’sensitivity and faster detection speed,named“LF-YOLO”.The better sensitivity of large objects and the faster detection speed are achieved by means of the Dense module-based backbone network connecting two-scale detecting network,for object detection tasks,along with optimized anchor boxes and improved loss function.During the manipulator motion,Octree-aided motion control scheme is adopted for collision-free motion through Robot Operating System(ROS).The proposed LF-YOLO which utilizes continuous optimization strategy and residual technique provides a promising detector design,which has been found to be more effective during actual object detection,in terms of decreased average detection time by 68.25%and 60.60%,and increased average Intersection over Union(Io U)by 20.74%and6.79%compared to YOLOv3 and YOLOv4 through experiments.The comprehensive functional tests of RCRo system demonstrate the feasibility and competency of the multiple unmanned inspections in practice.展开更多
In this paper, a trajectory shaping guidance law,which considers constraints of field-of-view(FOV) angle, impact angle, and terminal lateral acceleration, is proposed for a constant speed missile against a stationary ...In this paper, a trajectory shaping guidance law,which considers constraints of field-of-view(FOV) angle, impact angle, and terminal lateral acceleration, is proposed for a constant speed missile against a stationary target. First, to decouple constraints of the FOV angle and the terminal lateral acceleration, the third-order polynomial with respect to the line-ofsight(LOS) angle is introduced. Based on an analysis of the relationship between the looking angle and the guidance coefficient,the boundary of the coefficient that satisfies the FOV constraint is obtained. The terminal guidance law coefficient is used to guarantee the convergence of the terminal conditions. Furthermore, the proposed law can be implemented under bearingsonly information, as the guidance command does not involve the relative range and the LOS angle rate. Finally, numerical simulations are performed based on a kinematic vehicle model to verify the effectiveness of the guidance law. Overall, the work offers an easily implementable guidance law with closed-form guidance gains, which is suitable for engineering applications.展开更多
In order to guarantee safety and stability during physical human-robot-interaction(p HRI) in the occasion of service or industrial operation, a serial integrated rotary joint with the characteristics of passive and ac...In order to guarantee safety and stability during physical human-robot-interaction(p HRI) in the occasion of service or industrial operation, a serial integrated rotary joint with the characteristics of passive and active compliance is proposed. Passive compliance is achieved by a designed elastic element, such that the compliant joint may minimize large force which occurs during accidental impacts and, further, may offer more accurate and stable force control and a capacity for energy storage. Meanwhile, the modeling of the compliant joint is comprehensively analyzed, including the effect of the motor model on the overall control system. In order to realize the active compliance, a new method of impedance control is proposed. On the basis of PD control, a more compliant impedance controller is introduced. Experimental results show that the serial integrated rotary joint can provide more effective safety compliance during physical interaction, which has also been well applied in our designed massage robot and rehabilitation robot.展开更多
Micro-TATB particles with different sizes and 3D nanoporous TATB architectures with different specific surface areas were prepared through recrystallization to study short pulse duration shock initiation properties by...Micro-TATB particles with different sizes and 3D nanoporous TATB architectures with different specific surface areas were prepared through recrystallization to study short pulse duration shock initiation properties by electric gun technology.For micro-TATB,the initiation threshold significantly decreases with TATB average size ranging from 79.7μm to 0.5μm.For 3D nanoporous TATB architecture,the initiation threshold decreases and then increases with specific surface areas increased from 9.6 m^2/g to36.2 m^2/g.The lowest initiation thresholds are obtained for the micro-TATB with average sizes of 1.3μm and 0.5μm,and 3D nanoporous TATB architecture with specific surface area of 22.4 m^2/g.The shock initiation thresholds of micro-TATB and 3D nanoporous TATB architectures show significantly decreases with the porosity increased.The decomposition reaction and thermal conductivity properties were further investigated to understand the initial response mechanism.High porosity provides more collapse sites to generate high temperature for formation of hot spots.The low thermal conductivity and decomposition temperature could enhance the formation and ignition of the hot spots,and initial decomposition reaction of TATB.The effect of the decomposition temperature is higher than that of the thermal conductivity on the shock initiation properties.The enhanced decomposition reaction could pro mote energy release and transfer process from the ignition to the combustio n.This work offe rs a new insight to understand the effects of microstructure on the shock initiation properties and the initial response mechanism of TATB.展开更多
To investigate the thermal response and initiation behavior of ternary fluoropolymer-matrix PTFE/Al/W reactive materials,a research combining shock loading tests and trans-scale modelling is conducted.On the basis of ...To investigate the thermal response and initiation behavior of ternary fluoropolymer-matrix PTFE/Al/W reactive materials,a research combining shock loading tests and trans-scale modelling is conducted.On the basis of a good agreement of the numerically simulated and tested shock wave propagation,the significant impact of component ratios and particle sizes on the evolution of mesoscopic temperature,hot-spots and initiation is well characterized and analyzed.Results demonstrate that as the content of W increases,the range of mesoscopic high-temperature area increases and tends to distribute more uniform,while material with smaller W particles causes more intense particle deformation and larger temperature rise.The time to reach the critical temperature shows positive correlation to the content of W,while the critical temperature of hot-spots shows negative correlation to the particle size of W.For PTFE/Al/W of high density,with the increase of W particle size,the reaction rate decrease,however the time to reach the peak reaction rate shortens.展开更多
Energetic materials pose challenges in preparation and handling due to their contradictory properties of high-energy and low-sensitivity.The emergence of co-crystal explosives is a new opportunity to change this situa...Energetic materials pose challenges in preparation and handling due to their contradictory properties of high-energy and low-sensitivity.The emergence of co-crystal explosives is a new opportunity to change this situation.If the co-crystal explosive is coated into spherical particles with uniform particle size distribution,this contradiction can be further reduced.Therefore,binder-coated hexanitrohexaazaisowurtzitane/2,4,6-trinitrotoluene(CL-20/TNT)co-crystal microspheres were prepared by droplet microfluidic technology in this work.The coating effects of different binder formulations of nitrocellulose(NC)and NC/fluorine rubber(F2604)on the co-crystal spheres were studied.The scanning electron microscopy(SEM)results showed that the use of droplet microfluidic technology with the above binders can provide co-crystal microspheres with regular spherical morphology,uniform particle size distribution and good dispersion.X-ray diffraction(XRD),fourier-transform infrared(FT-IR),differential scanning calorimetry(DSC)and thermo-gravimetric(TG)methods were employed to compare the properties of the co-crystal microspheres,raw material and pure co-crystal.The formation of CL-20/TNT co-crystal in the microspheres was confirmed,and the co-crystal microspheres exhibited better thermal stability than the raw material and pure co-crystal.In addition,the mechanical sensitivity and combustion performance of the co-crystal microspheres were further studied.The results showed that the co-crystal microspheres were more insensitive than CL-20 and pure co-crystal,and displayed excellent self-sustained combustion performance and theoretical detonation performance.This study provides a new method for the fast,simple and one-step preparation of CL-20/TNT co-crystal microspheres,with binder coating,uniform particle size distribution,and excellent performance level.展开更多
Research on the expansion and fracture of explosively driven metal shells has been a key issue in weapon development and structural protection.It is important to study and predict the failure mode,fracture mechanism,a...Research on the expansion and fracture of explosively driven metal shells has been a key issue in weapon development and structural protection.It is important to study and predict the failure mode,fracture mechanism,and fragment distribution characteristics of explosively driven metal shells.In this study,we used the finite element-smoothed particle hydrodynamics(FE-SPH)adaptive method and the fluid-structure interaction method to perform a three-dimensional numerical simulation of the expansion and fracture of a metal cylindrical shell.Our method combined the advantages of the FEM and SPH,avoiding system mass loss,energy loss,and element distortion;in addition,the proposed method had a good simulation effect on the interaction between detonation waves and the cylindrical shell.The simulated detonation wave propagation,shell damage morphology,and fragment velocity distribution were in good agreement with theoretical and experimental results.We divided the fragments into three regions based on their shape characteristics.We analyzed the failure mode and formation process of fragments in different regions.The numerical results reproduced the phenomenon in which cracks initiated from the inner surface and extended to the outer surface of the cylindrical shell along the 45°or 135°shear direction.In addition,fragments composed of elements are identified,and the mass and characteristic lengths of typical fragments at a stable time are provided.Furthermore,the mass and size distribution characteristics of the fragments were explored,and the variation in the fitting results of the classical distribution function under different explosion pressures was examined.Finally,based on mathematical derivation,the distribution formula of fragment velocity was improved.The improved formula provided higher accuracy and could be used to analyze any metal cylindrical shells with different length-to-diameter ratios.展开更多
Combining the methods of theoretical,numerical and experimental,this research focuses on the jet formation behavior and optimization of trunconical hypercumulation shaped charge structure.With the three-stage division...Combining the methods of theoretical,numerical and experimental,this research focuses on the jet formation behavior and optimization of trunconical hypercumulation shaped charge structure.With the three-stage division,formation theory of trunconical hypercumulation shaped charge jet is established based on micro element method.By dimensional analysis,main control parameters are identified and their effect on jet formation are analyzed.Through numerical modelling and orthogonal optimization method,influence of the factors and their levels over the indicators of jet tip velocity and jet length as well as order of the significance of each factor and level are obtained.Penetration experiments of trunconical hypercumulation shaped charge based on the orthogonal optimization reveals its advantage over traditional conical shaped charge structure,and finally determines the optimal influence factor level combination.The research and results would provide useful guide for the design and application of trunconical hypercumulation shaped charge structure.展开更多
The trajectory optimization of an unpowered reentry vehicle via artificial emotion memory optimization(AEMO)is discussed.Firstly,reentry dynamics are established based on multiple constraints and parameterized control...The trajectory optimization of an unpowered reentry vehicle via artificial emotion memory optimization(AEMO)is discussed.Firstly,reentry dynamics are established based on multiple constraints and parameterized control variables with finite dimensions are designed.If the constraint is not satisfied,a distance measure and an adaptive penalty function are used to address this scenario.Secondly,AEMO is introduced to solve the trajectory optimization problem.Based on the theories of biology and cognition,the trial solutions based on emotional memory are established.Three search strategies are designed for realizing the random search of trial solutions and for avoiding becoming trapped in a local minimum.The states of the trial solutions are determined according to the rules of memory enhancement and forgetting.As the iterations proceed,the trial solutions with poor quality will gradually be forgotten.Therefore,the number of trial solutions is decreased,and the convergence of the algorithm is accelerated.Finally,a numerical simulation is conducted,and the results demonstrate that the path and terminal constraints are satisfied and the method can realize satisfactory performance.展开更多
The longitudinal dispersion of the projectile in shooting tests of two-dimensional trajectory corrections fused with fixed canards is extremely large that it sometimes exceeds the correction ability of the correction ...The longitudinal dispersion of the projectile in shooting tests of two-dimensional trajectory corrections fused with fixed canards is extremely large that it sometimes exceeds the correction ability of the correction fuse actuator.The impact point easily deviates from the target,and thus the correction result cannot be readily evaluated.However,the cost of shooting tests is considerably high to conduct many tests for data collection.To address this issue,this study proposes an aiming method for shooting tests based on small sample size.The proposed method uses the Bootstrap method to expand the test data;repeatedly iterates and corrects the position of the simulated theoretical impact points through an improved compatibility test method;and dynamically adjusts the weight of the prior distribution of simulation results based on Kullback-Leibler divergence,which to some extent avoids the real data being"submerged"by the simulation data and achieves the fusion Bayesian estimation of the dispersion center.The experimental results show that when the simulation accuracy is sufficiently high,the proposed method yields a smaller mean-square deviation in estimating the dispersion center and higher shooting accuracy than those of the three comparison methods,which is more conducive to reflecting the effect of the control algorithm and facilitating test personnel to iterate their proposed structures and algorithms.;in addition,this study provides a knowledge base for further comprehensive studies in the future.展开更多
In order to improve the energy output consistency of 3, 3’-diamino-4, 4’-azoxyfurazan(DAAF) in the new insensitive booster and the safety and efficiency in the preparation process, a continuous preparation system of...In order to improve the energy output consistency of 3, 3’-diamino-4, 4’-azoxyfurazan(DAAF) in the new insensitive booster and the safety and efficiency in the preparation process, a continuous preparation system of DAAF from synthesis to spherical coating was designed and established in this paper, which combined ultrasonic micromixing reaction with microdroplet globular template. In the rapid micromixing stage, the microfluidic mixing technology with ultrasonic was used to synergistically strengthen the uniform and rapid mass transfer mixing reaction between raw materials to ensure the uniformity of DAAF particle nucleation-growth, and to prepare high-quality DAAF crystals with uniform structure and morphology and concentrated particle size distribution. In the microdroplet globular template stage, the microfluidic droplet technology was used to form a droplet globular template with uniform size under the shear action of the continuous phase of the dispersed phase solution containing DAAF particles and binder. The size of the droplet template was controlled by adjusting the flow rate ratio between the continuous phase and the dispersed phase. In the droplet globular template, with the diffusion of the solvent in the dispersed phase droplets, the binder precipitates to coat the DAAF into a ball, forming a DAAF microsphere with high sphericity, narrow particle size distribution and good monodispersity. The problem of discontinuity and DAAF particle suspension in the process was solved, and the coating theory under this process was studied. DAAF was coated with different binder formulations of fluororubber(F2604), nitrocellulose(NC) and NC/glycidyl azide polymer(GAP), and the process verification and evaluation of the system were carried out. The balling effects of large, medium and small droplet templates under different binder formulations were studied. The scanning electron microscope(SEM) results show that the three droplet templates under the three binder formulations exhibit good balling effect and narrow particle size distribution. The DAAF microspheres were characterized by powder X-ray diffraction(XRD), differential scanning calorimetry(DSC), thermo-gravimetric(TG) and sensitivity analyzer. The results showed that the crystal structure of DAAF did not change during the process, and the prepared DAAF microspheres had lower decomposition temperature and lower mechanical sensitivity than raw DAAF. The results of detonation parameters show that the coating of DAAF by using the above three binder formulations will not greatly reduce the energy output of DAAF, and has comparable detonation performance to raw DAAF. This study proves an efficient and safe continuous system from synthesis to spherical coating modification of explosives, which provides a new way for the continuous, safe and efficient preparation of spherical explosives.展开更多
Two types of coaxial self-balancing robots(CSBR)were proposed,one can be used as a mobile robot platform for parts transporting in unmanned factory or as an inspector in dangerous areas,and the other can be used as a ...Two types of coaxial self-balancing robots(CSBR)were proposed,one can be used as a mobile robot platform for parts transporting in unmanned factory or as an inspector in dangerous areas,and the other can be used as a personal transporter ridden in cities.Mechanical designing and control structures as well as control strategies were described and compared in order to get a general way to develop such robots.A state feedback controller and a fuzzy controller were designed for the robot using DC servo motors and the robot using torque motors,respectively.The experiments indicate that the robots can realize various desired operations smoothly and agilely at the velocity of 0.6 m/s with an operator of 65 kg.Furthermore,the robustness of the controllers is revealed since these controllers can stabilize the robot even with unknown external disturbances.展开更多
基金funded by the National Natural Science Foundation of China Youth Fund(Grant No.62304022)Science and Technology on Electromechanical Dynamic Control Laboratory(China,Grant No.6142601012304)the 2022e2024 China Association for Science and Technology Innovation Integration Association Youth Talent Support Project(Grant No.2022QNRC001).
文摘Metal Additive Manufacturing(MAM) technology has become an important means of rapid prototyping precision manufacturing of special high dynamic heterogeneous complex parts. In response to the micromechanical defects such as porosity issues, significant deformation, surface cracks, and challenging control of surface morphology encountered during the selective laser melting(SLM) additive manufacturing(AM) process of specialized Micro Electromechanical System(MEMS) components, multiparameter optimization and micro powder melt pool/macro-scale mechanical properties control simulation of specialized components are conducted. The optimal parameters obtained through highprecision preparation and machining of components and static/high dynamic verification are: laser power of 110 W, laser speed of 600 mm/s, laser diameter of 75 μm, and scanning spacing of 50 μm. The density of the subordinate components under this reference can reach 99.15%, the surface hardness can reach 51.9 HRA, the yield strength can reach 550 MPa, the maximum machining error of the components is 4.73%, and the average surface roughness is 0.45 μm. Through dynamic hammering and high dynamic firing verification, SLM components meet the requirements for overload resistance. The results have proven that MEM technology can provide a new means for the processing of MEMS components applied in high dynamic environments. The parameters obtained in the conclusion can provide a design basis for the additive preparation of MEMS components.
基金supported by the National Natural Science Foundation of China(Grant Nos.T2222027 and 12202416)。
文摘The energy release of energetic composites is severely limited by the inert alumina(Al_(2)O_(3))layer on the surface of aluminum(Al).Polytetrafluoroethylene(PTFE)could eliminate Al_(2)O_(3)layer due to its highly electronegativity and oxidability of fluorine.However,adding PTFE particles would weaken interfacial interactions resulted in poor mechanical properties and interfacial exothermic reaction.Herein,a bridging Al-PTFE as fuel and interfacial reinforcing agent was added and used to prepare LLM-105/AlPTFE microspheres,achieving both high energy output and excellent mechanical properties.The energy release and combustion reaction performance of LLM-105/Al-PTFE microspheres are significantly improved due to high reaction heat and increased interfacial reaction area of Al-PTFE.The maximum pressure and pressurization rate of LLM-105/Al-PTFE microspheres are 164.06 kPa and 29.88 kPa/s,respectively,which are 40.11%and 16.67%higher than those of physical mixed samples.Furthermore,the tensile strength and compressive strength of LLM-105/Al-PTFE microspheres are 100.40%and 26.47%higher than those of LLM-105/Al.This work provides a new approach to improve the energy release and mechanical properties for energetic composites.
基金supported by the National Natural Science Foundation of China(Grant Nos.T2222027 and 12202416)。
文摘Aluminum(Al)powder is widely applied in thermobaric explosives due to its high energy density and favorable reaction kinetics.However,the inert oxide layer(Al_(2)O_(3))on Al particles limits combustion reactivity and energy efficiency.Fluoride-based surface modification has been developed as an effective approach to address this issue.Here,four classical fluoropolymers(F11,F14,PVDF,PTFE)are employed as coatings to prepare core-shell Al/Fluoropolymer.The combustion experimental results demonstrate that the core-shell Al/PTFE exhibits the highest flame propagation rate(52.88 mm·ms^(-1))and pressure output(109.02 k Pa)performance.Consequently,core-shell Al/PTFE is selected as a high-energy fuel to prepare RDX/Al/PTFE microspheres via the emulsion and solvent evaporation method,which can enhance the energy performance of RDX.The effects of the core-shell Al/PTFE ratio and RDX content on the combustion heat and pressure output are systematically investigated.The peak pressure reaches a maximum of 187.8 k Pa when the mass ratio of RDX,Al,and PTFE is 60:25:10.Additionally,RDX/Al/PTFE microspheres exhibit significantly higher laser-induced air shock velocities,detonation heat,and detonation pressure than those of pure RDX and RDX/Al.The mechanism underlying the enhanced reactivity and energetic performance is attributed to the ability of PTFE to etch the inert Al_(2)O_(3)shell on the surface of Al particles,thereby improving post-combustion reactions and significantly increasing the overall energy output of RDX explosives.This work offers a novel design strategy for high-energy structural thermobaric explosives for the practical applications.
基金support provided by the National Natural Science Foundation of China(Grant No.12102405)the Presidential Foundation of CAEP(Grant No.YZJJZQ2023008).
文摘This study investigates the paradoxical detonation behavior of TKX-50,a nitrogen-rich energetic material,exhibiting higher detonation velocities but lower metal acceleration ability compared to HMX.Through experimental measurements and theoretical calculations,we propose a novel three-factor competition mechanism to explain this phenomenon.TKX-50-based PBX formulations achieved detonation velocities up to 9100 m/s,surpassing HMX-based counterparts.However,cylinder expansion tests revealed a 15%reduction in metal acceleration ability.Thermochemical measurements showed lower detonation heat for TKX-50(4900 J/g)versus HMX(5645 J/g).Our mechanism involves:(1)compositional effects prevailing at high pressures;(2)Energy release becoming essential as pressure drops;(3)Pressure-dependent product composition evolution functioning at low pressure.VLW code calculations unveiled a"crossover"in Hugoniot curves,lending support to this mechanism.This study furnishes a new framework for comprehending the performance of nitrogen-rich energetic materials,with significant implications for the design and optimization of future high-energy density materials.
基金supported by National Natural Science Foundation of China(Grant No.12432018,12372346)the Innovative Research Groups of the National Natural Science Foundation of China(Grant No.12221002).
文摘A typical Whipple shield consists of double-layered plates with a certain gap.The space debris impacts the outer plate and is broken into a debris cloud(shattered,molten,vaporized)with dispersed energy and momentum,which reduces the risk of penetrating the bulkhead.In the realm of hypervelocity impact,strain rate(>10^(5)s^(-1))effects are negligible,and fluid dynamics is employed to describe the impact process.Efficient numerical tools for precisely predicting the damage degree can greatly accelerate the design and optimization of advanced protective structures.Current hypervelocity impact research primarily focuses on the interaction between projectile and front plate and the movement of debris cloud.However,the damage mechanism of debris cloud impacts on rear plates-the critical threat component-remains underexplored owing to complex multi-physics processes and prohibitive computational costs.Existing approaches,ranging from semi-empirical equations to a machine learningbased ballistic limit prediction method,are constrained to binary penetration classification.Alternatively,the uneven data from experiments and simulations caused these methods to be ineffective when the projectile has irregular shapes and complicate flight attitude.Therefore,it is urgent to develop a new damage prediction method for predicting the rear plate damage,which can help to gain a deeper understanding of the damage mechanism.In this study,a machine learning(ML)method is developed to predict the damage distribution in the rear plate.Based on the unit velocity space,the discretized information of debris cloud and rear plate damage from rare simulation cases is used as input data for training the ML models,while the generalization ability for damage distribution prediction is tested by other simulation cases with different attack angles.The results demonstrate that the training and prediction accuracies using the Random Forest(RF)algorithm significantly surpass those using Artificial Neural Networks(ANNs)and Support Vector Machine(SVM).The RF-based model effectively identifies damage features in sparsely distributed debris cloud and cumulative effect.This study establishes an expandable new dataset that accommodates additional parameters to improve the prediction accuracy.Results demonstrate the model's ability to overcome data imbalance limitations through debris cloud features,enabling rapid and accurate rear plate damage prediction across wider scenarios with minimal data requirements.
文摘The impact safety of explosive charges has been focused in these decades. The fragment impact is widely used to evaluate the response of explosive charges. In our work, the explosive detonation driving technique was used to generate a high velocity fragment with large mass. When the fragment masses are10 g, 16 g, 25 g, and 50 g, the highest velocity of fragments can reach 2400 m/s, 2100 m/s, 1900 m/s, and1400 m/s, respectively. The high velocity fragment with large mass was used to evaluate the safety of two kinds of CL-20 based explosive charges. The effects of the fragment mass and velocity were analyzed.Especially, the reaction extent was obtained based on visible phenomenon. The CL-20-based explosive charge containing Al had a higher safety level than that without Al. It was because Al had good ductility,and further improved the mechanical property of the material. Also, the numerical simulation was conducted to understand the reaction characteristics of the CL-20-based explosive charge. The results showed that as the fragment mass and velocity increased, the reaction became more violent.
基金supported by"the Fundamental Research Funds for the Central Universities".
文摘CAB is a binder commonly utilized in CL-20-based mixed explosives.Based on the requirements of CL-20-based polymer bonded explosives in formability,safety,and detonation energy,we explored a hightoughness and low dosage CAB binder system.CAB was subjected to different toughening modifications and the effects of the modified CAB binders on the bonding and coating of CL-20 crystals,as well as the formability,safety,and mechanical properties of CL-20-based polymer bonded explosive molding powder(MP)were evaluated.The changes in glass transition temperature(Tg)and mechanical properties of the modified binders were investigated using the molecular dynamics simulation at first.A series of modified binders with different molecular weights were then synthesized and characterized by FTIR,1H NMR,^(13)C NMR and SEC.The T_(g) and cross-sectional morphologies of the binder membranes were determined by DSC and SEM.The tensile properties of the binder membranes with different molecular weights and their mixtures with the plasticizer were evaluated at different temperature.With the optimized modified binder,CL-20/CAB and CL-20/CAB-g-PCL-3 MPs with the same plasticizer ratio and Cl-20/CAB-g-PCL-3 MP with a lower plasticizer ratio and higher CL-20 content were prepared and evaluated for the bonding and coating effects,crystal form,mechanical sensitivity and specific heat capacity(C_(p))by SEM,XRD,sensitivity testing and DSC,respectively.Their compressive strengths and splitting tensile strengths were measured at different temperature using a universal testing machine.Our work has provided a high-toughness and low-dosage binder system for CL-20-based MPs and offers a novel strategy to improve the formability,safety,and energy of CL-20 based polymer bonded explosives.
文摘Under the background of vigorously developing facilities of island/reef in the world,the economic value and strategic significance of the island/reef have become increasingly important.Unfortunately,they may easily become the attacking target of missiles in the war time.Therefore,aiming at the damage quantification of the targets in the island/reef under the missile attacking,a macroscopic damage assessment model for the target area is proposed in this paper.The model focuses on the construction of the assessment model framework.Firstly,the analytic hierarchy process and the grey relational analysis are applied to measure the importance of each target in the region through four indicators of the target hazard,striking urgency,damage advantage and mission relevance,respectively.Secondly,based on the damage mechanism of shock wave and fragments to target,the corresponding damage model is established,and the damage grade of each target in the evaluated area is obtained according to the damage criteria and grading standard.Finally,the model obtains the overall damage grade of the target area by employing the fuzzy comprehensive evaluation method,with synthesizing the importance and the damage grade of each target.Through the verification of an example,it demonstrates the certain feasibility of the model and provides a certain basis and reference for the subsequent research.
基金supported by the National Key Research and Development Program of China(grant number:2017YFC0806503)。
文摘With the increasing number of vehicles,manual security inspections are becoming more laborious at road checkpoints.To address it,a specialized Road Checkpoints Robot(RCRo)system is proposed,incorporated with enhanced You Only Look Once(YOLO)and a 6-degree-of-freedom(DOF)manipulator,for autonomous identity verification and vehicle inspection.The modified YOLO is characterized by large objects’sensitivity and faster detection speed,named“LF-YOLO”.The better sensitivity of large objects and the faster detection speed are achieved by means of the Dense module-based backbone network connecting two-scale detecting network,for object detection tasks,along with optimized anchor boxes and improved loss function.During the manipulator motion,Octree-aided motion control scheme is adopted for collision-free motion through Robot Operating System(ROS).The proposed LF-YOLO which utilizes continuous optimization strategy and residual technique provides a promising detector design,which has been found to be more effective during actual object detection,in terms of decreased average detection time by 68.25%and 60.60%,and increased average Intersection over Union(Io U)by 20.74%and6.79%compared to YOLOv3 and YOLOv4 through experiments.The comprehensive functional tests of RCRo system demonstrate the feasibility and competency of the multiple unmanned inspections in practice.
基金supported by the Defense Science and Technology Key Laboratory Fund of Luoyang Electro-Optical Equipment Institute,Aviation Industry Corporation of China (6142504200108)。
文摘In this paper, a trajectory shaping guidance law,which considers constraints of field-of-view(FOV) angle, impact angle, and terminal lateral acceleration, is proposed for a constant speed missile against a stationary target. First, to decouple constraints of the FOV angle and the terminal lateral acceleration, the third-order polynomial with respect to the line-ofsight(LOS) angle is introduced. Based on an analysis of the relationship between the looking angle and the guidance coefficient,the boundary of the coefficient that satisfies the FOV constraint is obtained. The terminal guidance law coefficient is used to guarantee the convergence of the terminal conditions. Furthermore, the proposed law can be implemented under bearingsonly information, as the guidance command does not involve the relative range and the LOS angle rate. Finally, numerical simulations are performed based on a kinematic vehicle model to verify the effectiveness of the guidance law. Overall, the work offers an easily implementable guidance law with closed-form guidance gains, which is suitable for engineering applications.
基金Project(81473694)supported by the National Natural Science Foundation of ChinaProject(2016A1027)supported by the major Project of Zhongshan City,ChinaProject(2016FZFC007)supported by the Intelligent Equipment and Technology of Automation Research and Development Platform,China
文摘In order to guarantee safety and stability during physical human-robot-interaction(p HRI) in the occasion of service or industrial operation, a serial integrated rotary joint with the characteristics of passive and active compliance is proposed. Passive compliance is achieved by a designed elastic element, such that the compliant joint may minimize large force which occurs during accidental impacts and, further, may offer more accurate and stable force control and a capacity for energy storage. Meanwhile, the modeling of the compliant joint is comprehensively analyzed, including the effect of the motor model on the overall control system. In order to realize the active compliance, a new method of impedance control is proposed. On the basis of PD control, a more compliant impedance controller is introduced. Experimental results show that the serial integrated rotary joint can provide more effective safety compliance during physical interaction, which has also been well applied in our designed massage robot and rehabilitation robot.
基金supported by National Natural Science Foundation of China(11702265,11872341 and 11602238)。
文摘Micro-TATB particles with different sizes and 3D nanoporous TATB architectures with different specific surface areas were prepared through recrystallization to study short pulse duration shock initiation properties by electric gun technology.For micro-TATB,the initiation threshold significantly decreases with TATB average size ranging from 79.7μm to 0.5μm.For 3D nanoporous TATB architecture,the initiation threshold decreases and then increases with specific surface areas increased from 9.6 m^2/g to36.2 m^2/g.The lowest initiation thresholds are obtained for the micro-TATB with average sizes of 1.3μm and 0.5μm,and 3D nanoporous TATB architecture with specific surface area of 22.4 m^2/g.The shock initiation thresholds of micro-TATB and 3D nanoporous TATB architectures show significantly decreases with the porosity increased.The decomposition reaction and thermal conductivity properties were further investigated to understand the initial response mechanism.High porosity provides more collapse sites to generate high temperature for formation of hot spots.The low thermal conductivity and decomposition temperature could enhance the formation and ignition of the hot spots,and initial decomposition reaction of TATB.The effect of the decomposition temperature is higher than that of the thermal conductivity on the shock initiation properties.The enhanced decomposition reaction could pro mote energy release and transfer process from the ignition to the combustio n.This work offe rs a new insight to understand the effects of microstructure on the shock initiation properties and the initial response mechanism of TATB.
基金support received from the Beijing Municipal Natural Science Foundation(Grant No.1214022).
文摘To investigate the thermal response and initiation behavior of ternary fluoropolymer-matrix PTFE/Al/W reactive materials,a research combining shock loading tests and trans-scale modelling is conducted.On the basis of a good agreement of the numerically simulated and tested shock wave propagation,the significant impact of component ratios and particle sizes on the evolution of mesoscopic temperature,hot-spots and initiation is well characterized and analyzed.Results demonstrate that as the content of W increases,the range of mesoscopic high-temperature area increases and tends to distribute more uniform,while material with smaller W particles causes more intense particle deformation and larger temperature rise.The time to reach the critical temperature shows positive correlation to the content of W,while the critical temperature of hot-spots shows negative correlation to the particle size of W.For PTFE/Al/W of high density,with the increase of W particle size,the reaction rate decrease,however the time to reach the peak reaction rate shortens.
基金National Natural Science Foundation of China(Grant No.22005275)to provide fund for conducting experiments。
文摘Energetic materials pose challenges in preparation and handling due to their contradictory properties of high-energy and low-sensitivity.The emergence of co-crystal explosives is a new opportunity to change this situation.If the co-crystal explosive is coated into spherical particles with uniform particle size distribution,this contradiction can be further reduced.Therefore,binder-coated hexanitrohexaazaisowurtzitane/2,4,6-trinitrotoluene(CL-20/TNT)co-crystal microspheres were prepared by droplet microfluidic technology in this work.The coating effects of different binder formulations of nitrocellulose(NC)and NC/fluorine rubber(F2604)on the co-crystal spheres were studied.The scanning electron microscopy(SEM)results showed that the use of droplet microfluidic technology with the above binders can provide co-crystal microspheres with regular spherical morphology,uniform particle size distribution and good dispersion.X-ray diffraction(XRD),fourier-transform infrared(FT-IR),differential scanning calorimetry(DSC)and thermo-gravimetric(TG)methods were employed to compare the properties of the co-crystal microspheres,raw material and pure co-crystal.The formation of CL-20/TNT co-crystal in the microspheres was confirmed,and the co-crystal microspheres exhibited better thermal stability than the raw material and pure co-crystal.In addition,the mechanical sensitivity and combustion performance of the co-crystal microspheres were further studied.The results showed that the co-crystal microspheres were more insensitive than CL-20 and pure co-crystal,and displayed excellent self-sustained combustion performance and theoretical detonation performance.This study provides a new method for the fast,simple and one-step preparation of CL-20/TNT co-crystal microspheres,with binder coating,uniform particle size distribution,and excellent performance level.
基金supported by the National Natural Science Foundation of China(Grant No.11872118,11627901)。
文摘Research on the expansion and fracture of explosively driven metal shells has been a key issue in weapon development and structural protection.It is important to study and predict the failure mode,fracture mechanism,and fragment distribution characteristics of explosively driven metal shells.In this study,we used the finite element-smoothed particle hydrodynamics(FE-SPH)adaptive method and the fluid-structure interaction method to perform a three-dimensional numerical simulation of the expansion and fracture of a metal cylindrical shell.Our method combined the advantages of the FEM and SPH,avoiding system mass loss,energy loss,and element distortion;in addition,the proposed method had a good simulation effect on the interaction between detonation waves and the cylindrical shell.The simulated detonation wave propagation,shell damage morphology,and fragment velocity distribution were in good agreement with theoretical and experimental results.We divided the fragments into three regions based on their shape characteristics.We analyzed the failure mode and formation process of fragments in different regions.The numerical results reproduced the phenomenon in which cracks initiated from the inner surface and extended to the outer surface of the cylindrical shell along the 45°or 135°shear direction.In addition,fragments composed of elements are identified,and the mass and characteristic lengths of typical fragments at a stable time are provided.Furthermore,the mass and size distribution characteristics of the fragments were explored,and the variation in the fitting results of the classical distribution function under different explosion pressures was examined.Finally,based on mathematical derivation,the distribution formula of fragment velocity was improved.The improved formula provided higher accuracy and could be used to analyze any metal cylindrical shells with different length-to-diameter ratios.
基金support from the Beijing Municipal Natural Science Foundation(Grant No.1214022).
文摘Combining the methods of theoretical,numerical and experimental,this research focuses on the jet formation behavior and optimization of trunconical hypercumulation shaped charge structure.With the three-stage division,formation theory of trunconical hypercumulation shaped charge jet is established based on micro element method.By dimensional analysis,main control parameters are identified and their effect on jet formation are analyzed.Through numerical modelling and orthogonal optimization method,influence of the factors and their levels over the indicators of jet tip velocity and jet length as well as order of the significance of each factor and level are obtained.Penetration experiments of trunconical hypercumulation shaped charge based on the orthogonal optimization reveals its advantage over traditional conical shaped charge structure,and finally determines the optimal influence factor level combination.The research and results would provide useful guide for the design and application of trunconical hypercumulation shaped charge structure.
基金supported by the Defense Science and Technology Key Laboratory Fund of Luoyang Electro-optical Equipment Institute,Aviation Industry Corporation of China(6142504200108).
文摘The trajectory optimization of an unpowered reentry vehicle via artificial emotion memory optimization(AEMO)is discussed.Firstly,reentry dynamics are established based on multiple constraints and parameterized control variables with finite dimensions are designed.If the constraint is not satisfied,a distance measure and an adaptive penalty function are used to address this scenario.Secondly,AEMO is introduced to solve the trajectory optimization problem.Based on the theories of biology and cognition,the trial solutions based on emotional memory are established.Three search strategies are designed for realizing the random search of trial solutions and for avoiding becoming trapped in a local minimum.The states of the trial solutions are determined according to the rules of memory enhancement and forgetting.As the iterations proceed,the trial solutions with poor quality will gradually be forgotten.Therefore,the number of trial solutions is decreased,and the convergence of the algorithm is accelerated.Finally,a numerical simulation is conducted,and the results demonstrate that the path and terminal constraints are satisfied and the method can realize satisfactory performance.
基金the National Natural Science Foundation of China(Grant No.61973033)Preliminary Research of Equipment(Grant No.9090102010305)for funding the experiments。
文摘The longitudinal dispersion of the projectile in shooting tests of two-dimensional trajectory corrections fused with fixed canards is extremely large that it sometimes exceeds the correction ability of the correction fuse actuator.The impact point easily deviates from the target,and thus the correction result cannot be readily evaluated.However,the cost of shooting tests is considerably high to conduct many tests for data collection.To address this issue,this study proposes an aiming method for shooting tests based on small sample size.The proposed method uses the Bootstrap method to expand the test data;repeatedly iterates and corrects the position of the simulated theoretical impact points through an improved compatibility test method;and dynamically adjusts the weight of the prior distribution of simulation results based on Kullback-Leibler divergence,which to some extent avoids the real data being"submerged"by the simulation data and achieves the fusion Bayesian estimation of the dispersion center.The experimental results show that when the simulation accuracy is sufficiently high,the proposed method yields a smaller mean-square deviation in estimating the dispersion center and higher shooting accuracy than those of the three comparison methods,which is more conducive to reflecting the effect of the control algorithm and facilitating test personnel to iterate their proposed structures and algorithms.;in addition,this study provides a knowledge base for further comprehensive studies in the future.
基金National Natural Science Foundation of China(Grant No.22005275)to provide fund for conducting experiments.
文摘In order to improve the energy output consistency of 3, 3’-diamino-4, 4’-azoxyfurazan(DAAF) in the new insensitive booster and the safety and efficiency in the preparation process, a continuous preparation system of DAAF from synthesis to spherical coating was designed and established in this paper, which combined ultrasonic micromixing reaction with microdroplet globular template. In the rapid micromixing stage, the microfluidic mixing technology with ultrasonic was used to synergistically strengthen the uniform and rapid mass transfer mixing reaction between raw materials to ensure the uniformity of DAAF particle nucleation-growth, and to prepare high-quality DAAF crystals with uniform structure and morphology and concentrated particle size distribution. In the microdroplet globular template stage, the microfluidic droplet technology was used to form a droplet globular template with uniform size under the shear action of the continuous phase of the dispersed phase solution containing DAAF particles and binder. The size of the droplet template was controlled by adjusting the flow rate ratio between the continuous phase and the dispersed phase. In the droplet globular template, with the diffusion of the solvent in the dispersed phase droplets, the binder precipitates to coat the DAAF into a ball, forming a DAAF microsphere with high sphericity, narrow particle size distribution and good monodispersity. The problem of discontinuity and DAAF particle suspension in the process was solved, and the coating theory under this process was studied. DAAF was coated with different binder formulations of fluororubber(F2604), nitrocellulose(NC) and NC/glycidyl azide polymer(GAP), and the process verification and evaluation of the system were carried out. The balling effects of large, medium and small droplet templates under different binder formulations were studied. The scanning electron microscope(SEM) results show that the three droplet templates under the three binder formulations exhibit good balling effect and narrow particle size distribution. The DAAF microspheres were characterized by powder X-ray diffraction(XRD), differential scanning calorimetry(DSC), thermo-gravimetric(TG) and sensitivity analyzer. The results showed that the crystal structure of DAAF did not change during the process, and the prepared DAAF microspheres had lower decomposition temperature and lower mechanical sensitivity than raw DAAF. The results of detonation parameters show that the coating of DAAF by using the above three binder formulations will not greatly reduce the energy output of DAAF, and has comparable detonation performance to raw DAAF. This study proves an efficient and safe continuous system from synthesis to spherical coating modification of explosives, which provides a new way for the continuous, safe and efficient preparation of spherical explosives.
基金Project(61273344)supported by the National Natural Science Foundation of ChinaProject(SKLRS-2010-ZD-40)supported by the StateKey Laboratory of Robotics and Systems(HIT),China+1 种基金Project(2008AA04Z208)supported by the National Hi-tech Research and Development Program of ChinaProject(20121101110011)supported by PhD Program Foundation of Ministry of Education,China
文摘Two types of coaxial self-balancing robots(CSBR)were proposed,one can be used as a mobile robot platform for parts transporting in unmanned factory or as an inspector in dangerous areas,and the other can be used as a personal transporter ridden in cities.Mechanical designing and control structures as well as control strategies were described and compared in order to get a general way to develop such robots.A state feedback controller and a fuzzy controller were designed for the robot using DC servo motors and the robot using torque motors,respectively.The experiments indicate that the robots can realize various desired operations smoothly and agilely at the velocity of 0.6 m/s with an operator of 65 kg.Furthermore,the robustness of the controllers is revealed since these controllers can stabilize the robot even with unknown external disturbances.
