Application of novel force control strategies to enhance robotic abrasive belt grinding quality of aero-engine blades

Robotic belt grinding has emerged as a finishing process in recent years for machining components with high surface finish and flexibility.The surface machining consistency, however,is difficult to be guaranteed in such a process.To overcome this problem, a method of hybrid force-position control combined with PI/PD control is proposed to be applied in robotic abrasive belt grinding of complex geometries.Voltage signals are firstly obtained and transformed to force information with signal conditioning methods.Secondly, zero drift and gravity compensation algorithms are presented to calibrate the F/T transducer which is installed on the robot end-effector.Next, a force control strategy combining hybrid force-position control with PI/PD control is introduced to be employed in robotic abrasive belt grinding operations where the force control law is applied to the Z direction of the tool frame and the positon control law is used in the X direction of the tool frame.Then, the accuracy of the F/T transducer and the robotic force control system is analyzed to ensure the stability and reliability of force control in the robotic grinding process.Finally, two typical cases on robotic belt grinding of a test workpiece and an aero-engine blade are conducted to validate the practicality and effectiveness of the force control technology proposed.     

Low Velocity Collisions and the Growth of Planetesimals

The physics of low velocity collisions (5 m/s to 40 m/s) between basalt bodies ranging in size from 1 m to 10 km is studied in an effort to investigate the early phases of planetesimal accretions. To assess the importance of the internal structure of planetesimals on the outcome of the collisions, we model them either as solid spheres or as rubble piles with a filling factor of 0.5. The collisions are simulated using a three dimensional Smooth Particle Hydrodynamics (SPH) code that incorporates the combined effects of material strength and a brittle fragmentation model. This approach allows the determination not only of the mass of the largest fragments surviving the collisions but also their dynamical characteristics. We find that low velocity collisions are for equal incoming kinetic energy per gram of target material considerably more efficient in destroying and dispersing bodies than their high velocity counterparts. Furthermore, planetesimals modeled as rubble piles are found to be characterized by a disruption threshold about 5 times smaller than solid bodies. Both results are a consequence of a more efficient momentum transfer between projectile and fragments in collisions involving bodies of comparable sizes. Size and shape dependent gas drag is shown to provide relative collision velocities between similar meter-sized objects well in excess of the critical disruption threshold of either rubble piles or solid bodies. Unless accretion can proceed avoiding collisions between bodies of similar masses, the relative weakness of bodies in this size range creates a serious bottleneck for planetesimal growth. This revised version was published online in June 2006 with corrections to the Cover Date.     

Optical/infrared observations unveiling the formation,nature and evolution of High-Mass X-ray Binaries

In this review I first describe the nature of the three kinds of High-Mass X-ray Binaries (HMXBs), accreting through: (i) Be circumstellar disc, (ii) supergiant stellar wind, and (iii) Roche lobe filling supergiants.     

The Solar Quiet Chromosphere—Corona Transition Region

The chromosphere-corona transition region of the Sun enjoys both simplicities of character and complexities of character which result from its very thin geometrical extent. The simplicities derive from the reasonably clear view of the energy balance (both observationally and theoretically), while the complexities derive from both the proximity of the not-so-clearly viewed regions below and above, and the almost certain convolutions and perhaps discontinuities in the three dimensional geometry of the transition sheet. While observational resolution and spectral information has improved greatly in recent years, the problems associated with a single vantage point, the Earth and its environs, have not gone away. To understand the transition region we must resolve structures radially and temporally as well as in the plane of the sky. This revised version was published online in June 2006 with corrections to the Cover Date.     

脉宽调制器中一类振荡器的全面解析结果

用分析法全面讨论脉宽调制器（IC：1842/3/4/5,1842A/3A/4A/5A）中振荡器的振荡特征参数（占空比D和频率f）与外接电阻R和电容C的关系.我们得到以R、C为自变量表达D和f的函数,以D、f为自变量求R、C的函数.并根据这些函数的计算结果绘制描述D、f、R、C（1F）4个参数之间的关系曲线.这些结果,不仅提升了对这类振荡器的认知,而且可供设计时直接引用和参考.     

Soft gamma repeaters

The observational properties of the soft gamma repeaters are reviewed briefly, starting with the time histories and energy spectra of their bursts. The short bursts and giant flares are compared. Their quiescent emission is presented, and the context of the magnetar model is discussed.     

用模糊集方法实现管理系统仿真输入非参数化的研究

以模糊信息优化处理的观点，研究了信息扩散方式实现非参数输入的途径、方法和效果、本文用正态扩散方式处理知识样本，形成参数概率颁上模式，通过ＳＩＭＡＮ仿真语言，对某一高速公路的一部分收费系统进行了仿真研究，结果表明：当人们对系统掌握的资料不多时，新方法有较大的优越性；如有较多的资料，新方法的结果与传统方法一致。     

Coronal Heating: a Comparison of Ion-cyclotron and Gravity Damping Models

SOHO/UVCS data indicate that minor ions in the corona are heated more than hydrogen, and that coronal heating results in T_⊥ larger than T_‖. Analogous behavior has been known from in situ measurements in solar wind for many years. Here we compare and contrast two mechanisms which have been proposed to account for the above behavior: ion-cyclotron resonance and gravity damping. This revised version was published online in June 2006 with corrections to the Cover Date.     

Short-Lived Radionuclides in Meteorites: Constraints on Nebular Timescales for the Production of Solids

Variations in the abundances of short-lived radionuclides such as ²⁶Al (τ_1/2 ≈ 0.74 Ma) and ⁵³Mn (τ_1/2 ≈ 3.7 Ma) in meteoritic solids may be used to infer relative formation intervals of these solids in the nebula at precisions of less than 1 Ma. In a strict chronometric interpretation of the isotopic variations, whereby criteria such as spatial and temporal isotopic homogeneity and closed system isotopic evolution are met, solid formation occurred in the nebula for at least several million years. This is longer than some theoretical and astronomical estimates for the duration of the active nebula. The evidence for live ⁴¹Ca (τ_1/2 ≈ 0.10 Ma) in meteoritic inclusions further indicates that the onset of solid formation occurred quite early, perhaps within a few hundred thousand years after the onset of the collapse of the sun's parent molecular cloud. Failure of the chronometric interpretation may arise for a variety of reasons, including but not limited to, the late, inhomogeneous injection of material from a nearby stellar source or the local production of short-lived radionuclides by an energetic particle irradiation, e. g., from T Tauri (X-wind) or galactic cosmic ray sources. Although some isotopic evidence exists that the criteria required for a strict chronometric interpretation are not met by each of the short-lived chronometers, there is no compelling reason to shorten the interval of solid formation in the nebula to less than 1 Ma. This revised version was published online in June 2006 with corrections to the Cover Date.     

The ground-based large-area wide-angle γ-ray and cosmic-ray experiment HiSCORE

The question of the origin of cosmic rays and other questions of astroparticle and particle physics can be addressed with indirect air-shower observations above 10 TeV primary energy. We propose to explore the cosmic ray and γ-ray sky (accelerator sky) in the energy range from 10 TeV to 1 EeV with the new ground-based large-area wide angle (ΔΩ ∼ 0.85 sterad) air-shower detector HiSCORE (Hundred^∗i Square-km Cosmic ORigin Explorer). The HiSCORE detector is based on non-imaging air-shower Cherenkov light-front sampling using an array of light-collecting stations. A full detector simulation and basic reconstruction algorithms have been used to assess the performance of HiSCORE. First prototype studies for different hardware components of the detector array have been carried out. The resulting sensitivity of HiSCORE to γ-rays will be comparable to CTA at 50 TeV and will extend the sensitive energy range for γ-rays up to the PeV regime. HiSCORE will also be sensitive to charged cosmic rays between 100 TeV and 1 EeV.