Knowledge presentation by the MNSM-based controller for swimming motion of a snake-like robot

A MNSM( mirror neuron system mechanism)-based controller is developed to present the swimming rhythm of a snake-like robot in Cartesian space. From engineering viewpoint,the proposed controller is composed of a neuron for rhythm angle and two neurons for motion knowledge in XY plane. The given knowledge is a rhythm curve for swimming motion of a snake-like robot. Experimental results show that the proposed controller can present the knowledge of swimming rhythm,which represents the corresponding control law to drive the snake-like robot to swim with different speeds and turning motion. This work provides a novel method to present the knowledge for swimming motion of snake-like robots.     

Stability analysis via the concept of Lyapunov exponents―a case study

The dynamics characteristics of the robotic arm system are usually highly nonlinear and strongly coupling,which will make it difficult to analyze the stability by the methods of solving kinetic equations or constructing Lyapunov function,especially,these methods cannot calculate the quantitative relationship between mechanical structures or control input and dynamics parameters and stability.The theoretical analysis process from symbol dynamics modeling of the robotic arm system to the movement stability is studied by using the concept of Lyapunov exponents method. To verify the algorithm effectiveness,the inner relation between its joint input torque and stability or chaotic and stable motion of the 2-DOF robotic arm system is analyzed quantitatively. As compared with its counterpart of Lyapunov's direct method,the main advantage of the concept of Lyapunov exponents is that the methods for calculating the exponents are constructive to provide an effective analysis tool for analyzing robotic arm system movement stability of nonlinear systems.     

New insights into the effects of silicon content on the oxidation process in silicon-containing steels

Simultaneous thermal analysis (STA) was used to investigate the effects of silicon content on the oxidation kinetics of silicon- containing steels under an atmosphere and heating procedures similar to those used in industrial reheating furnaces for the production of hot-rolled strips. Our results show that when the heating temperature was greater than the melting point of Fe₂SiO₄, the oxidation rates of steels with different silicon contents were the same; the total mass gain decreased with increasing silicon content, whereas it increased with increasing oxygen content. The oxidation rates for steels with different silicon contents were constant with respect to time under isothermal conditions. In addition, the starting oxidation temperature, the intense oxidation temperature, and the finishing oxidation temperature increased with increasing silicon content; the intense oxidation temperature had no correlation with the melting of Fe₂SiO₄. Moreover, the silicon distributed in two forms: as Fe₂SiO₄ at the interface between the innermost layer of oxide scale and the iron matrix, and as particles containing silicon in grains and grain boundaries in the iron matrix.     

Numerical simulation on reho-diecasting mould filling of an automobile master brake cylinder

An apparent viscosity model of semi-solid A356 aluminum alloy has been developed and the software Castsofl6.0 coupled with the model has been used to simulate the mould filling of an automobile master brake cylinder with the semi-solid A356 aluminum alloy slurry. The simulation results are in agreement with the practical filling process, indicating that the apparent viscosity model is feasible and can be used to simulate the mould filling of the semisolid A356 aluminum alloy slurry and can be used to optimize the filling process and the design of dies. A higher injection pressure, a higher ingate flow velocity of the semi-solid slurry, and a higher slurry temperature are advantageous to the mould filling of the automobile master brake cylinder.     

Numerical simulation on the rheo-diecasting of the semi-solid A356 aluminum alloy

The effect of injection pressure, piston velocity, and the forming temperature of semisolid slurry on the filling behavior of the semi-solid A356 aluminum alloy was investigated by simulation methods. The simulation results show that these processing parameters have an important effect on the filling behavior of the semi-solid A356 aluminum alloy. The slurry flows steadily in the cavity when the injection pressure, the piston velocity, and the forming temperature are low, but it is prone to turbulent flow when the injection pressure, the piston velocity, and the forming temperature are much higher. Therefore it is necessary to determine the appropriate processing parameters to get a steady flow of the slurry in the cavity.     

Fabrication and characterization of anodic oxide films on a Ti-10V-2Fe-3Al titanium alloy

Anodic oxide films of the titanium alloy Ti-10V-2Fe-3Al in ammonium tartrate electrolyte without hydrofluoric acid or fluoride were fabricated. The morphology, components, and microstructure of the films were characterized by scanning electron microscopy (SEM), X-ray photoelectron spectroscopy (XPS), X-ray diffraction (XRD), and Raman spectroscopy. The results showed that the films were thick, uniform, and nontransparent. Such films exhibited sedimentary morphology, with a thickness of about 3 μm, and the pore diameters of the deposits ranged from several hundred nanometers to 1.5 μm. The films were mainly titanium dioxide. Some coke-like deposits, which may contain or be changed by OH, NH, C-C, C-O, and C=O groups, were doped in the films. The films were mainly amorphous with a small amount of anatase and rutile phase.     

Analysis on using UPREITs in real estate finance in United States

This paper gave an overview introduction about umbrella partnership real estate investment trust （UPREIT） to the readers who are not related to real estate and accounting major. To show how UPREIT defer capital gain taxes,makes good cash flow and maximize profit in real estate finance,the paper included the theory and structure of UPREIT（real estate investment trust）,partnership issues,advantage and disadvantage,and created a proforma to demonstrate how UPREIT works.     

Study on structural system of Sutong Bridge

Sutong Bridge, whose layout is [ （100 ＋ 100 ＋300） ＋ 1 088 ＋ （300 ＋ 100 ＋ 100） ] m,marks the largest span of cable-stayed bridges in the world. The complex natural condition at the bridge site and the strict requirements for resistance of wind and seismic action make it crucial to choose a favorable structural system to assure the function and safety of the bridge. The comparison among several optional structural systems for Sutong Bridge is illustrated. After detailed analysis is carried out for viscous damper and hydraulic buffer, super liquid viscous damper with additional displacement limitation is designed for the first application in bridge engineering. The parameters for the damper is analyzed and studied and the dampers are installed successfully after quality tests.     

Healing of hydrogen-attacked cracks in split specimens with recovering heat treatment in vacuum

The healing mechanism of hydrogen-attacked cracks in low carbon steel and Cr-Mo steel and its influencing factors during the healing process were studied by recovering heat treatment of split specimens in vacuum. The result showed that crack pacing tums much smaller under the condition of pure heating, especially for crack tips. The healing effect is well related to the length of cracks with the shorter in priority. By the primary mechanism of thermal diffusion, iron and carbon atoms must diffuse at the high speed in steel to realize that plasticity deformation energy exceeds and overcomes surface tensile force energy. In addition, phase transformation and stress-stain relationship also have positive effects on the process.     

A systematic method based on statistical pattern recognition for estimating product quality on-line

To avoid the complexity of building mechanistic models by studying the inner nature of the object, a systematic method based on statistical pattern recognition is developed in order to estimate the product quality on-line. The mapping relationship between a feature space and a product quality space can be built by using regression analysis, and in applying clustering analysis the product quality space can be partitioned automatically. Eventually, estimating product quality on-line can be accomplished by sorting the mapped data in the partitioned quality space. A concrete problem is proposed which has a relatively small ratio of training data to input variables. By implementing the method mentioned above, a satisfying result has been achieved. Furthermore, the further question about choosing suitable mapping methods is briefly discussed.