Stability margin of the quadruped bionic robot with spinning gait

Spinning gait is valuable for quadruped robot, which can be used to avoid obstacles quickly for robot walking in unstructured environment.A kind of bionic flexible body is presented for quadruped robot to perform the spinning gait.The spinning gait can be achieved by coordinated movement of body laterally bending and legs swing, which can improve the mobility of robot walking in the un-structured environments.The coordinated movement relationship between the body and the leg mechanism is presented.The stability of quadruped robot with spinning gait is analyzed based on the center of gravity ( COG) projection method.The effect of different body bending angle on the stabili-ty of quadruped robot with spinning gait is mainly studied.For the quadruped robot walking with spinning gait, during one spinning gait cycle, the supporting polygon and the trajectory of COG pro-jection point under different body bending angle are calculated.Finally, the stability margin of quadruped robot with spinning gait under different body bending angle is determined, which can be used to evaluate reasonableness of spinning gait parameters.     

高新技术企业内部研发投入产出效果分析与实证研究

针对高新技术企业内部研发投入产出效果的提升问题,本文从研发投入内部来源的角度进行考虑,以广州市某区高新技术企业2014-2016年的统计数据为基础,采用实证研究方法,试图构建该区高新技术企业内部研发投入与产出的关系模型,根据最终研究结果进行分析总结,从而得出一些有用的结论。     

向量优化问题弱E-有效解的代数性质

【目的】研究一类集值向量优化问题。【方法】利用代数内部这一概念,建立基于改进集而定义的集值映射邻近E-次似凸性的择一性定理,进而应用该定理来研究集值向量优化问题。【结果】给出了基于代数内部和改进集而定义的弱 E-有效解的线性标量化结果和拉格朗日乘子定理,同时也给出了一些例子并对主要结果进行了解释。【结论】主要结果是对最近一些文献中相应结果的改进与推广。
     

CuO/C催化剂的制备及其脱除烟气中NO的研究

以褐煤为原料,先通过干馏、活化的方法制取活性半焦,再采用水热法在活性半焦上负载CuO制备CuO/C催化剂,利用XRD和SEM等技术对其晶体结构和微观形貌进行表征,并分析CuO/C催化剂对模拟烟气中NO脱除效果的影响因素。结果表明,活性半焦含有丰富的含氧官能团,是一种较好的催化剂载体和还原剂;在120℃和2h的制备条件下制备CuO/C催化剂时,在活性半焦表面生长的CuO晶体较多,尺寸较小且分散均匀;当C-NO的反应温度为250℃、空速为19 200h~(-1)、氧气含量为4%时,在120℃和2h制备条件下所制得的CuO/C催化剂对NO脱除效果好,其NO脱除率可达95.26%。     

Comparative study on the corrosion behavior of X52, 3Cr,and 13Cr steel in an O2–H2O–CO2 system: products,reaction kinetics,and pitting sensitivity

The corrosionbehaviors of X52, 3Cr low-alloy steel, and 13Cr stainless steel were investigated inanO2–H2O–CO2 environment at varioustemperaturesand O2–CO2partial-pressure ratios. The results showed thatthe corrosion rates of X52, 3Cr, and 13Cr steels in-creased with increasing temperature. The corrosion ratesslowly increased at temperaturesless than100℃ and increased sharply when the temperature exceeded100℃. In the absence of O2, X52, 3Cr, and 13Cr exhibited uniform corrosion morphology and FeCO3 was the main corrosion product. When O2 was introduced into the system, various forms of Fe2O3 appeared on the surface of the samples. The Cr content strongly influenced the corrosion resistance. The 3Cr steel with a low Cr content was more sensitive to pitting than the X52 or 13Cr steel. Thus, pitting occurred on the surface of 3Cr when 1.25 MPa of O2 was added; this phenomenon is related to the non-uniform distribution of Cr in 3Cr.     

Microstructure evolution and mechanical properties of a large-sized ingot of Mg-9Gd-3Y-1.5Zn-0.5Zr (wt%) alloy after a lower-temperature homogenization treatment

In this paper, a large-sized ingot of Mg-9Gd-3Y-1.5Zn-0.5Zr (wt%) alloy with a diameter of 600 mm was successfully prepared by the semi-continuous casting method. The alloy was subsequently annealed at a relatively low temperature of 430℃ for 12 h as a homogenization treatment. The microstructure and room-temperature mechanical properties of the alloy were investigated systematically. The results show that the as-cast alloy contained a mass of discontinuous lamellar-shaped 18R long-period stacking ordered (LPSO) phases with a composition of Mg₁₀ZnY and an α-Mg matrix, along with net-shaped Mg₅(Y,Gd) eutectic compounds at the grain boundaries. Most of the eutectic compounds dissolved after the homogenization treatment. Moreover, the amount and dimensions of the lamellar-shaped LPSO phase obviously increased after the homogenization treatment. The structure of the phase transformed into 14H-type LPSO with composition Mg₁₂Zn(Y,Gd). The mechanical properties of the heat-treated large-sized alloy ingot are uniform. The ultimate tensile strength (UTS) and tensile yield strength (TYS) of the alloy reached 207.2 MPa and 134.8 MPa, respectively, and the elongation was 3.4%. The high performances of the large-sized alloy ingot after the homogenization treatment is attributed to the strengthening of the α-Mg solid solution and to the plentiful LPSO phase distributed over the α-Mg matrix.     

MNi4.8Sn0.2（M=La, Nd）-supported multi-walled carbon nanotube composites as hydrogen storage materials

Two composites LaNi4.8Sn0.2/CNTs and NdNi4.8Sn0.2/CNTs were prepared by an impregnation-reduction method. Their hydrogen storage capacity could reach up to 2.96 wt% and 2.88 wt% respectively at room temperature and 1.0 MPa pressure. These values, which might result from the synergetic effect between the alloy nanoparticles and the pretreated CNTs, were three times higher than those of the unsupported MNi4.8Sn0.2 (M=La, Nd) alloys under the same conditions. XRD and TEM revealed that the alloy particles were uniformly dispersed on the CNTs and the average particle size was ca. 30 nm. The composites also showed good stability and the hydrogen storage capacity decreased by less than 6% after 100 adsorption-desorption cycles. Moreover, no noticeable change in crystalline structure was observed for the composites.     

轿车混合动力传动系统排放特性的仿真

节能和环保是新世纪人类急待解决的两大主要难题 由于轿车在全球汽车保有量中占有 80 %左右的比例 ,开发新型节能传动系统和清洁燃料已经成为当务之急 混合动力传动系统被认为是目前解决节能和环保问题的有效途径之一 本文在介绍总结传统混合动力传动系统的基础上 ,提出了一种新型的最小化形式轿车混合动力传动系统 介绍了其结构原理和控制策略 ,建立了最小化形式轿车混合动力传动系统排放特性的数学模型 利用编制的计算机仿真程序 ,对最小化形式混合动力传动系统轿车的排放特性进行了仿真 仿真结果显示 ,最小化形式混合动力传动系统能够有效减少废气排放     

The extremum principle of mass entransy dissipation and its application to decontamination ventilation designs in space station cabins

In terms of the analogy between mass and heat transfer phenomena, a new physical quantity, i.e. mass entransy, is introduced to represent the ability of an object for transferring mass to outside. Meanwhile, the mass entransy dissipation occurs during mass transfer processes as an alternative to measure the mass transfer irreversibility. Then the concepts of mass entransy and its dissipation are used to develop the extremum principle of mass entransy dissipation and the corresponding method for convective mass transfer optimization, based on which an Euler＇s equation has been deduced as the optimization equation for the fluid flow to obtain the best convective mass transfer performance with some specific constraints. As an example, the ventilation process for removing gaseous pollutants in a space station cabin with a uniform air supply system has been optimized to reduce the energy consumption of the ventilation system and decrease the contaminant concentration in the cabin. By solving the optimization equation, an optimal air velocity distribution with the best decontamination performance for a given viscous dissipation is firstly obtained. With the guide of this optimal velocity field, a suitable concentrated air supply system with appropriate air inlet position and width has been designed to replace the uniform air supply system, which leads to the averaged and the maximum contaminant concentrations in the cabin been decreased by 75% and 60%, respectively, and the contaminant concentration near the contaminant source surface been decreased by 50%, while the viscous dissipation been reduced by 30% simultaneously.     

The carbon isotopic compositions of Non-methane Hydrocarbons in atmosphere

Carbon isotopic compositions of atmospheric Non-methane Hydrocarbons(NMHCs) in the urban areas of Taiyuan and Lanzhou in summer were reported and the sources of NMHCs are discussed.Carbon isotopic ratios(δ 13C) of vehicle exhaust,coal-combustion exhaust,fuel volatiles and cooking exhaust were also measured with thermal desorption-gas chromatography-isotope ratio-mass spectrometry(TD-GC-IR-MS).δ 13C values of NMHCs in the urban areas of Lanzhou and Taiyuan range from-32.3‰ to-22.3‰ and from-32.8‰ to-18.1‰.δ ...