机器人系统的动态混合力/位置控制的几何原理

基于在位形空间中受约束系统的几何性质,对机器人系统的运动及所受的约束力进行研究。通过引入法空间及切空间的概念,实现了机器人运动及力的解耦控制,从而简化了控制系统。通过对双臂机器人系统的位置/力动态混合控制的数字仿真,说明本方法简单、可行。     

二元紊流发生器实验研究

本文给出了二元紊流发生器实验研究的结果,对不同文氏管通道型面所提供的一些典型的出口流场作了分析,并对某些工作状态下的激波振荡的特征作了介招。紊流发生器出口边界条件可以是音速出口,也可以是等压出口,尽管这方面的区别对于激波振荡特征以及分离包的尺度有显著的影响,但是对于出口流场的影响却是令人惊奇地微不足道。紊流发生器中常使用的提供总压图谱的畸变网可以使出口紊流度大幅度衰减。如果采用模拟板来代替畸变网,这一情况卽可以避免。     

珠状凝结是一种典型的分形生长

本文根据近三十年来在珠状凝结换热研究中积累的实验研究资料,提出珠状凝结是一种典型的分形生长过程。由随机分形模型建立了珠状凝结液滴的尺度分布,应用重整化方法确定了液滴尺度的分布指数。      

Ti—15—3合金时效性能研究

研究了不同炉号的Ｔｉ－１５－３（Ｔｉ－１５Ｖ－３Ｃｒ－３Ｓｎ－３Ａｌ）合金时效温度、时间以及Ａｌ当量与力学性能的关系。在５００～５４０℃范围内拉伸强度与时效温度呈线性关系,平均斜率为－３ＭＰａ／℃。得出了强度与Ａｌ当量的线性方程式,推算出最佳Ａｌ含量为３．１％～３．３％。采用统计方法研究了强度与塑性关系,并研究了冷加工对时效性能的影响。研究的达到１０８０ＭＰａ强度级别的５２０℃／１０ｈ／ＡＣ的时效制度具有满意的力学性能,并应用于制造飞机阻力伞梁。     

高精度差分格式及多尺度流场特性的数值模拟

简要介绍了作者近年发展的高精度差分格式,给出了两类格式精度的分析方法,分析了粘性面差分逼近所引入的耗散量低亏效应。文中按群速度将格式分为快型,慢型和混合型三类。对每类格式分析了高频波的传播特性。     

不可压扰动方程高精度对称紧致差分数值解法及应用

从粘性不可压扰动方程一阶改型形式出发,对其实现了高精度对称紧致差分离散,就导出的扰动线性特征值问题给出了一个高铲双重迭代局部解法,以相同精度将特征值和特征函数同时得到。通过不可平面Ｐｏｉｓｅｕｉｌｌｅ流时间稳定性算例详细对比显示了算法良好的谱分辨能力和较弱的网格依赖性,并结合复矩阵广义特征隐式移ＱＺ算法获取了一个 扰动特征值谱计算结果。     

激光工艺制造SiCP-Al表面金属基复合物

研究了激光工艺预置SiCP表层厚度对表面改性层显微结构的影响,并研究了SiC颗粒与熔池的浸润行为,以及熔池内部SiC颗粒与铝合金基体之间的界面反应机理.与基体相比,涂层的硬度和耐磨性均有大幅度提高.     

镀金属碳毡在电磁屏蔽材料中的应用

将三维网络结构的碳毡引入电磁屏蔽材料的应用,对其特有的电磁性能及网络结构作了分析,并进行了复合材料屏蔽效果计算和修正。研究表明：利用碳毡的孔洞结构和尺寸,辅之以金属镀层,能在较宽的频率内对电磁波有良好的屏蔽效率,且不需要很大的填充量。     

Effect of sodium tartrate concentrations on morphology and characteristics of anodic oxide film on titanium alloy Ti–10V–2Fe–3Al

The effect of sodium tartrate concentrations on morphology and characteristics of ano-dic oxide film on titanium alloy was investigated. The alloy substrates were anodized in different concentration solutions of sodium tartrate with the addition of PTFE emulsion and their morphol-ogy and characteristics were analyzed. The anodic oxide film presented a uniform petaloid drums and micro-cracks morphology. Additionally, micro-cracks dramatically swelled with the increase of the tartrate concentrations. The thickness of the anodic oxide film increased with the concentra-tions until the concentration reached 15 g/L. The results of Raman analysis illustrate that all sam-ples have similarity in the crystal structure, consisting of mainly amorphous TiO2, some anatase TiO2 and a small amount of rutile TiO2. And the ratios of anatase TiO2 and rutile TiO2 increase with the concentrations until it reaches 15 g/L. Furthermore, the intensity of the peaks increases with enhanced concentrations until the concentration reaches 15 g/L. The corrosion resistance of the anodic oxide film is increased by the sodium tartrate with higher concentrations before 15 g/L. The coefficient of friction of the anodic oxide film reduces with the concentrations until the concentration reaches 15 g/L, then the coefficient of friction of the anodic oxide film increases with the concentrations.     

An experimental system for release simulation of internal stores in a supersonic wind tunnel

Aerodynamic parameters obtained from separation experiments of internal stores in a wind tunnel are significant in aircraft designs. Accurate wind tunnel tests can help to improve the release stability of the stores and in-flight safety of the aircrafts in supersonic environments.A simulative system for free drop experiments of internal stores based on a practical project is provided in this paper. The system contains a store release mechanism, a control system and an attitude measurement system. The release mechanism adopts a six-bar linkage driven by a cylinder, which ensures the release stability. The structure and initial aerodynamic parameters of the stores are also designed and adjusted. A high speed vision measurement system for high speed rolling targets is utilized to measure the pose parameters of the internal store models and an optimizing method for the coordinates of markers is presented based on a priori model. The experimental results show excellent repeatability of the system, and indicate that the position measurement precision is less than0.13 mm, and the attitude measurement precision for pitch and yaw angles is less than 0.126°, satisfying the requirements of practical wind tunnel tests. A separation experiment for the internal stores is also conducted in the FL-3 wind tunnel of China Aerodynamics Research Institute.