Determination of optimal samples for robot calibration based on error similarity

Industrial robots are used for automatic drilling and riveting.The absolute position accuracy of an industrial robot is one of the key performance indexes in aircraft assembly,and can be improved through error compensation to meet aircraft assembly requirements.The achievable accuracy and the difficulty of accuracy compensation implementation are closely related to the choice of sampling points.Therefore,based on the error similarity error compensation method,a method for choosing sampling points on a uniform grid is proposed.A simulation is conducted to analyze the influence of the sample point locations on error compensation.In addition,the grid steps of the sampling points are optimized using a statistical analysis method.The method is used to generate grids and optimize the grid steps of a Kuka KR-210 robot.The experimental results show that the method for planning sampling data can be used to effectively optimize the sampling grid.After error compensation,the position accuracy of the robot meets the position accuracy requirements.     

Numerical study on flow fields and aerodynamics of tilt rotor aircraft in conversion mode based on embedded grid and actuator model

A method combining rotor actuator disk model and embedded grid technique is presented in this paper, aimed at predicting the flow fields and aerodynamic characteristics of tilt rotor aircraft in conversion mode more efficiently and effectively. In this method, rotor's influence is considered in terms of the momentum it impacts to the fluid around it; transformation matrixes among different coordinate systems are deduced to extend actuator method's utility to conversion mode flow fields' calculation. Meanwhile, an embedded grid system is designed, in which grids generated around fuselage and actuator disk are regarded as background grid and minor grid respectively, and a new method is presented for ‘donor searching' and ‘hole cutting' during grid assembling. Based on the above methods, flow fields of tilt rotor aircraft in conversion mode are simulated, with threedimensional Navier–Stokes equations discretized by a second-order upwind finite-volume scheme and an implicit lower–upper symmetric Gauss–Seidel(LU-SGS) time-stepping scheme. Numerical results demonstrate that the proposed CFD method is very effective in simulating the conversion mode flow fields of tilt rotor aircraft.     

超声速条件下多体干扰与分离试验研究

采用根据国外公开文献设计的类CAV模型,在0．6m×0．6m 跨/超声速风洞中开展了多体干扰与分离网格测力试验研究,初步获得了典型多体飞行器分离过程中的气动特性变化规律。试验结果表明,载荷模型气动特性受分离位置变化影响非常明显。载荷模型沿轴向分离时,气动力（矩）逐步接近自由流中气动力（矩）值,载荷模型法向位置改变会引发其气动力（矩）值发生更为剧烈的变化。引发这种现象的原因有两个：一是尾迹和头激波的发展改变了不同轴向位置处载荷模型的表面流态,从而影响了其气动特性;二是母机模型底部流动具有明显的非对称膨胀特征,不同法向位置处流速大小和方向差异明显,导致载荷模型气动特性随法向位置变化更为剧烈。     

A theoretical model of semi-elliptic surface crack growth

A theoretical model of semi-elliptic surface crack growth based on the low cycle strain damage accumulation near the crack tip along the cracking direction and the Newman–Raju formula is developed. The crack is regarded as a sharp notch with a small curvature radius and the process zone is assumed to be the size of cyclic plastic zone. The modified Hutchinson, Rice and Rosengren(HRR) formulations are used in the presented study. Assuming that the shape of surface crack front is controlled by two critical points: the deepest point and the surface point.The theoretical model is applied to semi-elliptic surface cracked Al 7075-T6 alloy plate under cyclic loading, and five different initial crack shapes are discussed in present study. Good agreement between experimental and theoretical results is obtained.     

Analysis of crack opening stresses for center- and edge-crack tension specimens

Accurate determination of crack opening stress is of central importance to fatigue crack growth analysis and life prediction based on the crack-closure model. This paper studies the crack opening behavior for center- and edge-crack tension specimens. It is found that the crack opening stress is affected by the crack tip element. By taking the crack tip element into account, a modified crack opening stress equation is given for the center-crack tension specimen. Crack surface displace- ment equations for an edge crack in a semi-infinite plate under remote uniform tension and partially distributed pressure are derived by using the weight function method. Based on these displacements, a crack opening stress equation for an edge crack in a semi-infinite plate under uniform tension has been developed. The study shows that the crack opening stress is geometry-dependent, and the weight function method provides an effective and reliable tool to deal with such geometry depen- dence.     

肋角度对气膜冷却特性的影响

在光滑二次流通道的基础上,分析对比了两种带肋通道(135°肋和45°肋)对气膜冷却特性的影响.采用瞬态液晶测试技术获得了气膜孔下游表面传热系数比与气膜冷却效率分布.使用Fluent软件RANS数值方法对相应结构进行了数值模拟,并使用了realizable k-ε湍流模型.光滑二次流通道模型中,气膜孔内流线呈螺旋状分布,导致较大的孔内速度分离与流动损失.冷气射流分成两部分,其中一股形成一对偏斜的对转涡.135°肋结构中,二次流通道上部分的旋转涡为顺时针方向,使得气流易于流入气膜孔,气膜孔内流线呈直线分布.45°肋结构中,二次流通道上部分旋转涡为逆时针方向,增强了气膜孔内旋转涡.45°肋结构中冷气流入气膜孔之后的流动结构与光滑二次流通道结构相似.135°肋结构气膜冷却效率最大而表面传热系数比最低.     

对外直接投资的贸易效应——基于中美比较的视角

20世纪80年代以来,伴随着改革开放和国际产业转移,发达国家加快了对外投资步伐,中国也抓住这一机会成为世界上最大的对外直接投资吸引地。经过三十多年来的发展,如今中国企业也开始了＂走出去＂的脚步。对外投资对于一国的贸易有何影响,学界对此有很多研究。文章对1984~2012年中国和美国之间的双边直接投资和贸易进行检验,利用协整模型进行计量分析。分析结果表明：中国对美国的直接投资会增加中国对美国的进口,美国对中国的直接投资则会增加中国对美国的出口。     

Performance of a small and low-cost chamber to simulate lunar surface environment

The performance of a small and low-cost metal chamber built to simulate the pressure and temperature conditions of lunar surface was assessed and the results are presented. This chamber is intended for studying the physical properties of lunar surface and subsurface (using soil simulants) and also to validate the technology readiness of certain newly developed payloads planned for future lunar surface missions (Lander/Rover). It is possible to reach down to ∼10⁻⁷ Pa under specific conditions and maintain the temperature of the sample under investigation to lunar day and night temperatures. The designed system has been subjected to various tests to evaluate its performance and suitability for carrying out experiments in a simulated lunar environment.     

Evaluating the feasibility of GPS measurements of SSH on board a ship along the Portuguese West Coast

Aiming to validate coastal altimetry data, an exploratory experiment was carried out, using a survey ship with onboard GPS and motion compensation systems. The ship navigation plan followed a track as coincident as possible with the passage of two altimetry satellites, Envisat and Jason-1, along the Portuguese coast, in June 2007.     

网格生成方程中非线性系数对网格正交和分布的影响研究

通过数学分析，对椭圆型方程非线性系数对生成网格的正交性和空间分布的影响进行了研究，理论分析和数值结果均表明，系数β具有控制网格正交性的作用，系数α和γ具有调节网格空间分布的作用，且其调节的强增和作用与其比值有直接关系，基于此提出了一种混合型边界条件的给定方法，较好地实现了网格正交和疏密分布的控制。