Design of trotting controller for the position-controlled quadruped robot

This work presents a controller designed for position-controlled quadrupedal dynamic locomo-tion, aiming at simple and robust trotting control .The controller takes the torso attitude angles and velocities into planning foot trajectories .Firstly design of the servo motor actuated quadruped robot is introduced and the kinematic equations are deduced .Then a scheme is presented for controlling the robot torso attitude based on the virtual leg model .Furthermore , it demonstrates the design of the controller which enables the robot to have a wide range of trotting gaits and omni-directional mo-tions.Finally, results of robust trotting in various speeds , path tracking and push recovery in simu-lation are reported , and results of trotting on real quadruped robots will be studied .     

Effects of elemental Sn on the properties and inclusions of the free-cutting steel

A new environment-friendly free-cutting steel alloyed with elemental Sn (Y20Sn) was developed to meet the requirements of machinability and mechanical properties according to GB/T8731-1988. The machinability of the steel is enhanced by the segregation of elemental Sn at grain boundaries. The effect of Sn segregation on intergranular brittle fracture at normal cutting temperature from 250℃ to 400℃ is confirmed. The formation mechanism of main inclusions MnS is influenced by the presence of Sn and the attachment of Sn around MnS itself as a surfactant, and this mechanism also explains the improvement in machinability and mechanical properties of the steel. In the steel, the relevant inclusions are mainly spherical or axiolitic, and are uniformly distributed in small volume. Such inclusions improve the machinability of the steel and do not impair the mechanical properties as well. Experimental results demonstrate that the appropriate content of Sn in the steel is 0.03wt% to 0.08wt%, and the remaining composition is close to that of standard Y20 steel.     

Nitridation of chromium powder in ammonia atmosphere

CrN powder was synthesized by nitriding Cr metal in ammonia gas flow, and its chemical reaction mechanism and nitridation process were studied. Through thermodynamic calculations, the Cr-N-O predominance diagrams were constructed for different temperatures. Chromium nitride formed at 7002-1200℃ under relatively higher nitrogen and lower oxygen partial pressures. Phases in the products were then investigated using X-ray diffraction (XRD), and the Cr₂N content varied with reaction temperature and holding time. The results indicate that the Cr metal powder nitridation process can be explained by a diffusion model. Further, Cr₂N formed as an intermediate product because of an incomplete reaction, which was observed by high-resolution transmission electron microscopy (HRTEM). After nitriding at 1000℃ for 20 h, CrN powder with an average grain size of 63 nm was obtained, and the obtained sample was analyzed by using a scanning electron microscope (SEM).     

Simulation of three-phase flow and lance height effect on the cavity shape

A three-dimensional computational fluid dynamics (CFD) model was developed to simulate a 150-t top-blown converter. The effect of different lance heights on the cavity shape was investigated using the volume of fluid (VOF) method. Numerical simulation results can reflect the actual molten bath surface waves impinged by the supersonic oxygen jets. With increasing lance height, the cavity depth decreases, and the cavity area, varying like a parabola, increases and then decreases. The cavity area maximizes at the lance height of 1.3 m. Under the three different lance heights simulated in this study, all of the largest impact velocities at the molten bath surface are between 50 m/s and 100 m/s.     

A process model for BOF process based on bath mixing degree

The process model for BOF process can be applied to predict the liquid steel composition and bath temperature during the whole steelmaking process. On the basis of the traditional three-stage decarburization theory, the concept of mixing degree was put forward, which was used to indicate the effect of oxygen jet on decarburization. Furthermore, a more practical process model for BOF steelmaking was developed by analyzing the effect of silicon, manganese, oxygen injection rate, oxygen lance height, and bath temperature on decarburization. Process verification and end-point verification for the process model have been carried out, and the verification results show that the prediction accuracy of carbon content reaches 82.6% (the range of carbon content at the end-point is less than 0.1wt%) and 85.7% (the range of carbon content at end-point is 0.1wt%–0.7wt%) when the absolute error is less than 0.02wt% and 0.05wt%, respectively.     

以MSP430单片机为核心的同步发电机稳定性控制实验装置的研究

本系统用直流电动机模拟同步发电机的汽门,以MSP430F149单片机作为控制核心,用软件编程实现PID控制器对直流电动机转速的控制,保证当同步发电机负载发生改变时输出电压、频率保持不变。     

Effects of sulfur addition methods and Ca-Si treatment on the microstructure and properties of 30MnVS

The effects of sulfur addition methods and Ca-Si treatment on the microstructure and properties of free-cutting non-quenched and tempered steel 30MnVS were investigated by using optical microscopy, SEM and tensile test methods. The results show that sulfur addition methods influence the morphology of sulfides and the properties of 30MnVS slightly. Ca-Si treatment is beneficial for the formation of complex sulfides which normally have oxide cores, therefore, improving the distribution of sulfides in the tested steel and enhancing its toughness. The two methods, pyrite addition during LF process and S wire feeding during VD process, slightly influence the morphology and distribution of sulfides and the properties of 30MnVS; Ca addition not only promotes the nucleation of sulfides on the cores of calcium aluminate inclusions, but also creates modification effect on MnS, reducing the relative plasticity and hot deformability of sulfides during hot rolling process, thereby reducing the length/width value of sulfides and improving their distribution, and significantly enhancing its mechanical properties, in particular, the impact toughness increased by 30%.     

Thermodynamic Properties of Mn-P and Fe-Mn-P Melts

Based on the phase diagrams and the coexistence theory of metallic melts structure involving compound formation, the calculating models of mass action concentrations for Mn-P and Fe-Mn-P melts have been formulated. The calculated mass action concentrations agree well with the corresponding measured activities, this in turn shows that the deduced models can reflect the structural characteristics of the melts concerned and there isn't any saturation of phosphorus in both melts.     

Late Mesozoic interaction between crust and mantle in coastal area of Zhejiang-Fujian

This paper summarizes the lithogeochemical features of composite lavas, dikes and plutons composed of early Cretaceous associated basic-acidic igneous rocks from the coastal area of Zhejiang-Fujian. On the basis of the studies on Nd, Sr, Pb isotopic signatures and geochemical characteristics of large ion lithophile elements (L1LE) , light rare earth elements (LREE) and high field strong elements ( HFSE) of these contemporary basic-acidic igneous rocks, it is considered that the source enrichment caused by the subduction of Pacific plate and contamination of crustal rocks and melts during ascending process may lead to the formation of basaltic magmas with a high LILE concentration. These late Mesozoic composite basic-acidic igneous rocks are the products of the interactions between crust and mantle in active continental margin.     

＂NSFC-IRRI Joint Workshop on Rice Science＂ Held in Hangzhou

From December 17 to 19, 2008, ＂NSFC-IRRI Joint Workshop on Rice Science＂ was successfully held in Hangzhou. The workshop was jointly organized by NSFC and International Rice Research Institute （IR- RI）, and hosted by China National Rice Research Institute.