Contact State Estimation Based on Surface-matching in Virtual Assembly

Contact problems are one of the most challenging fields in virtual assembly. Information of contact states could be utilized to realize compliant motion of work pieces, to analyze the contact stress, to assist positioning parts and so on. Some methods have already been proposed to estimate contact states between objects and in most of these methods contact states between objects are simplified in order to realize real-time visual reality animation. While in virtual assembly contact states between parts are required to analyze contact stress, deformation and quality. Besides the contact state estimation method for virtual assembly should be able to handle a number of complex parts in real time. There are rarely known methods which could meet this requirement till now. In this study a contact state estimation algorithm based on surface-matching for virtual assembly is proposed. Contacts between parts are categorized into six basic types according to contact region of surfaces. Based on continuous collision detection of polyhedral models a novel contact state identification algorithm which is based on surface matching is proposed. Then contact evolution algorithm, which utilizes the extern force and contact information, is implemented to handle evolution of contact state. Finally a prototype system is developed to verify the above technologies. Experiment results reveal that contact state between parts could be estimated correctly in real time virtual assembly. The proposed contact state estimation algorithm provides a complete solution to obtain the contact state between parts in virtual assembly. Information of contact state between parts could be utilized to realize contact dynamic, contact stress analysis, assembly quality analysis, and so on.

ROBOT PROGRAMMING BY DEMONSTRATION FOR TASK IN CONTACT STATE

Robot programming by demonstration (PBD) system for task in which objectrequires contact with environment is built based on the controlling skill model. The skill isdescribed in three aspects: contact state classifier, acquirement of contact states sequence andcontrolling transition between states. The classifier is developed with the support vector machineby using force sense. Sequence of states is obtained from the force signal of demonstration by theevent trigger. The velocity command of transition is achieved by linearization method. The PBDsystem is successfully built with robot controller with open architecture.

Influence of interface states, conduction band offset, and front contact on the performance of a-SiC：H(n)/c-Si(p)heterojunction solar cells

P-type silicon heterojunction（SHJ） solar cells with a-SiC：H（n） emitters were studied by numerical computer simulation in this paper. The influence of interface states, conduction band offset, and front contact on the performance of a-SiC：H（n）/c-Si（p） SHJ solar cells was investigated systematically. It is shown that the open circuit voltage（Voc） and fill factor（F F） are very sensitive to these parameters. In addition, by analyzing equilibrium energy band diagram and electric field distribution, the influence mechanisms that interface states, conduction band offset, and front contact impact on the carrier transport, interface recombination and cell performance were studied in detail. Finally, the optimum parameters for the a-SiC：H（n）/c-Si（p） SHJ solar cells were provided. By employing these optimum parameters, the efficiency of SHJ solar cell based on p-type c-Si was significantly improved.

Effect of thickness of friction material on contact state of ultrasonic motor

Performances of ultrasonic motor (USM) considerably depend on contact state between stator and rotor.Based on an electric contact method,the effects of thickness of single homogeneous friction material and gradient friction material on contact state between stator and rotor were studied.The relative contact length was employed to describe the contact characteristics of stator and rotor.With the decrease of thickness of friction material,the contact characteristic of stator and rotor were analyzed and compared when single homogeneous friction material and gradient friction material were used.The experimental results showed that the effect of gradient friction material on contact characteristic is smaller than that of single homogeneous friction material when the thickness of friction material decreases.The result can provide experimental guidance for design and choosing of friction material for USM.

Latent Tuberculosis Infection among Household Contacts of Pulmonary Tuberculosis Cases in Central State, Sudan: Prevalence and Associated Factors

Introduction: Tuberculosis is a major health problem in developing countries including Sudan. Screening for TB cases through Household contacts (HHCs) investigation is an appropriate strategy to interrupt transmission of TB. Objectives: To determine the prevalence tuberculosis infection and risk factors for tuberculosis infection among household contacts in Wadimadani locality, Central State, Sudan, between November 2015 and April 2016. Methods: An analytical cross-sectional study conducted. During study period, to confirm TB diagnosis, all suspect contacts were tested through sputum samples, tuberculin skin test or chest X-ray. Structured questionnaire was used to collect socio-demographic and environmental factors. Results: One hundred forty six patients of smear-positive pulmonary tuberculosis were included in the study, 657 household contacts were identified and screened. Forty three new TB cases were detected from household contacts, yielding a prevalence of 6.5% (95% confidence interval = 0.05, 0.09) of latent tuberculosis infection (LTBI). Two factors were significantly associated with LTBI among HHCs: duration of contact with a TB patient ≤ 4 months (P = 0.03) and the educational status (P = 0.02). Conclusion: Screening of HHCs of index case of TB will contribute in early detection and treatment of new cases, and considered as a forward step towards eliminating TB.

A Simple Method of Surface Parameter Extraction for Gate Schottky Contact in 4H-SiC MESFETs

We investigate the effects of the surface states on the Schottky contacts in 4H-SiC MESFET. The Ti/Pt/Au gate metal contacts are deposited by electron beam evaporation and patterned by a lift-off process. Based on thermionic theory,a simple parameter extraction method is developed for determination of the surface states in metal/4H-SiC Schottky contacts. The interface state density and interface capacitance are calculated to be 4. 386 × 10^12 cm^-2 · eV^- 1 and 6. 394 × 10^-6 F/cm^2 ,which are consistent with the device＇s terminal characteristics.

Transient Heat Transfer Study of Direct Contact Condensation of Steam in Spray Cooling Water

We conducted a transient experimental investigation of steam–water direct contact condensation in the absence of noncondensible gas in a laboratory-scale column with the inner diameter of 325 mm and the height of 1045 mm. We applied a new analysis method for the steam state equation to analyze the molar quantity change in steam over the course of the experiment and determined the transient steam variation. We also investigated the influence of flow rates and temperatures ofcooling water on the efficiency ofsteam condensation. Our experimental results show that appropriate increasing of the cooling water flow rate can significantly accelerate the steam condensation. We achieved a rapid increase in the total volumetric heat transfer coefficient by increasing the flow rate of cooling water, which indicated a higher thermal convection between the steam and the cooling water with higher flow rates. We found that the temperature ofcooling water did not play an important role on steam condensation. This method was confirmed to be effective for rapid recovering ofsteam.

A Cell Model to Describe and Optimize Heat and Mass Transfer in Contact Heat Exchangers

A cell model to describe and optimize heat and mass transfer in contact heat exchangers for utilization of exhaust gases heat is proposed. The model is based on the theory of Markov chains and allows calculating heat and mass transfer at local moving force of the processes in each cell. The total process is presented as two parallel chains of cells (one for water flow and one for gas flow). The corresponding cells of the chains can exchange heat and mass, and water and gas can travel along their chains according to their transition ma-trices. The results of numerical experiments showed that the most part of heat transfer occurs due to moisture condensation from gas and the most intense heat transfer goes near the inlet of gas. Experimental validation of the model showed a good correlation between calculated and experimental data for an industrial contact heat exchanger if appropriate empirical equations were used to calculate heat and mass transfer coefficient. It was also shown that there exists the optimum height of heat exchanger that gave the maximum gain in heat energy utilization.

Design of Non-contact On-load Automatic Regulating Voltage Transformer

At present, an automatic-mechanic contact tap-changer is widely used in power system, but it can not frequently operate. In addition, arc will occur when the switch changes. In order to solve these two problems, this paper presented an automatic on-load voltage-regulating distributing transformer which employed non-contact solid-state relay as tap-changer, and mainly introduced its structure, basic principal, design method of each key link and experimental results. Laboratory simulation experiments informed that the scheme was feasible. It was a smooth and effective experiment device, which was practical in application.

CNTs@S composite as cathode for all-solid-state lithium-sulfur batteries with ultralong cycle life

The main challenges in development of traditional liquid lithium-sulfur batteries are the shuttle effect at the cathode caused by the polysulfide and the safety concern at the Li metal anode arose from the dendrite formation.All-solid-state lithium-sulfur batteries have been proposed to solve the shuttle effect and prevent short circuits.However,solid-solid contacts between the electrodes and the electrolyte increase the interface resistance and stress/strain,which could result in the limited electrochemical performances.In this work,the cathode of all-solid-state lithium-sulfur batteries is prepared by depositing sulfur on the surface of the carbon nanotubes(CNTs@S)and further mixing with Li10GeP2S12 electrolyte and acetylene black agents.At 60℃,CNTs@S electrode exhibits superior electrochemical performance,delivering the reversible discharge capacities of 1193.3,959.5,813.1,569.6 and 395.5 mAhg^-1 at the rate of 0.1,0.5,1,2 and 5 C,respectively.Moreover,the CNTs@S is able to demonstrate superior high-rate capability of 660.3 mAhg^-1 and cycling stability of 400 cycles at a high rate of 1.0 C.Such uniform distribution of the CNTs,S and Li10GeP2S12 electrolyte increase the electronic and ionic conductivity between the cathode and the electrolyte hence improves the rate performance and capacity retention.

Discrete state space method and modal extension method based impact sound synthesis model

The efficient and accurate synthesis of physical parameter-controllable impact sounds is essential for sound source identification. In this study, an impact sound synthesis model of a cylinder is proposed based on discrete state space（DSS） method and modal extension method（MEM）. This model is comprised of the whole three processes of the physical interaction, i.e., the Hertz contact process, the transient structural response process, and the sound radiation process. Firstly,the modal expanded DSS equations of the contact system are constructed and the transient structural response of the cylinder is obtained. Then the impact sound of the cylinder is acquired using improved discrete Raleigh integral. Finally, the proposed model is verified by comparing with existing models. The results show that the proposed impact sound synthesis model is more accurate and efficient than the existing methods and easy to be extended to the impact sound synthesis of other structures.

Force Based Skill Learning for Robot Tasks in Contact Conditions

To acquire human operation skill based on force sense, element contact form (ECF) is proposed to describe contact condition firstly. The skill is modeled as a sequence of discrete ECFs. Since different ECF has different force distribution, a support vector machine classifier is built to identify the contact conditions according to the force signal. Finally, the robot can obtain the skill from the human demonstration.

Finite-Element Analysis of Parts Stress State of Tight Joint Assembled by Press Fitting

This paper includes descriptions of the stress distribution regularities in the tight joint parts, regularities of the stress state changes in the contact region along coupling length, stress concentration factors, levels of additional stresses caused by press fitting. Distributions of stress intensity, axial stress, contact pressure, tangent stress in parts and in contact zone along coupling length are considered. Calculation results obtained by three approaches: Lame relationships, FEM without considering assembly method, FEM with considering press fitting process are analyzed and compared. The adequacy of research carried out is confirmed.

Solid-Contact Ion-Selective Electrodes Based on Graphite Paste for Potentiometric Nitrate and Ammonium Determinations

Robust and easy-to-handle solid-contact ion-selective electrodes (SC-ISEs) based on graphite paste have been developed for the potentiometric detection of NO-3 and NH+4 in environmental samples. Polypyrrole (PPy) has been used as intermediate layer and solid contact between the electron-conducting graphite paste substrate and the ion-conducting polyvinylchloride (PVC)-containing membrane with the immobilized ionophore. For the nitrate- and ammonium-selective electrodes, tridodecylmethylammonium nitrate (TDMA-NO3) and nonactin have been used as ion-complexing compounds, respectively. Both ISEs show nearly Nernstian response in the linear range from 10-5 mol/L to 10-1 mol/L with average slopes of >58 mV/decade. The ISEs possess short response times (<20 s).

金刚石砂轮与金刚石滚轮磨削接触的声发射监测

为了实现金刚石砂轮磨削加工金刚石滚轮过程的自动化,需要对磨削接触状态进行准确识别。由于磨削过程中材料去除率较小导致声发射信号幅值变化不显著,仅用有效值对磨削接触状态识别的准确性受噪声影响很大。针对此问题,通过模态分解和相关性分析相结合的方法对采集的声发射信号进行处理,再计算各分量的有效值和方差值完成特征提取,最后利用支持向量机对磨削接触状态进行识别。实际应用发现:该方法对滚轮的磨削接触状识别准确率达到了98.3%,准确实现了对磨削接触状态的识别。

ACCEPT-NMR: A New Tool for the Analysis of Crystal Contacts and Their Links to NMR Chemical Shift Perturbations

We have developed an open-source cross-platform software toolkit entitled ACCEPT-NMR (Automated Crystal Contact Extrapolation/Prediction Toolkit for NMR) as a helpful tool to automate many of the complex tasks required to find and visualize crystal contacts in structures of biomolecules and biomolecular assemblies. This toolkit provides many powerful features geared toward NMR spectroscopy and related disciplines, such as isotopic labeling, advanced visualization options, and reporting tools. Using this software, we have undertaken a survey of available chemical shift data in the literature and deposited in the BMRB, and show that the mere presence of one or more crystal contacts to a residue confers an approximately 65% likelihood of significant chemical shift perturbations (relative to solution NMR chemical shifts). The presence of each additional crystal contact subsequently increases this probability, resulting in predictive accuracies in excess of 80% in many cases. Conversely, the presence of a significant experimental chemical shift perturbation indicates a >60% likelihood of finding one or more crystal contacts to a particular residue. Pinpointing sites likely to experience large CSPs is critical to mapping solution NMR chemical shifts onto solid-state NMR data as a basis for preliminary assignments, and can thus simplify the assignment process for complex biomolecules. Mapping observed CSPs onto the molecular structure, on the other hand, can indicate the presence of crystal interfaces where no crystal structure is available. Finally, by detecting sites critical to intermolecular interfaces, ACCEPT-NMR can help guide experimental approaches (e.g. isotopic labeling schemes) to detect and probe specific inter-subunit interactions.

外电场作用下纳米结构表面润湿转变机理研究

采用分子动力学模拟方法,研究了外电场作用下液膜在带有纳米凹槽的疏水表面处由Cassie态向Wenzel态的润湿态转变过程,并分析了其转变机理。结果表明,润湿状态转变所需时长并不随着电场强度的增大而降低,而是存在一个促进润湿状态转变的最佳电场强度。基于电场作用下的液滴润湿角及液柱极化应力的计算分析表明,一方面外电场可以增强表面润湿性,有利于Cassie态向Wenzel态的润湿态转变,另一方面,液膜受电场极化的影响而沿电场方向伸长,从而减缓了液膜向纳米凹槽的渗入。因此,随着电场强度的增大,液膜润湿状态转变时长呈现先减小后增大的趋势。本研究揭示了外电场作用下纳米结构表面的润湿态转变的机理,有助于深入理解微纳米结构表面的电润湿现象。

基于FWD弯沉盆参数的沥青路面层间接触状态识别方法及耐久性评估

层间黏结接触状态是决定沥青路面多层复合结构整体性的关键因素之一,层间状态的改变会显著的影响各结构层的力学响应。应用落锤式弯沉仪(falling weight deflectormeter,FWD)无损检测技术研究基于弯沉盆参数的沥青路面层间接触状态识别方法。依托京沪高速公路改扩建工程,建立路面结构三维动力有限元模型,分析不同基-面层间接触状态下各类FWD弯沉盆参数与基层、面层应力的相关性排序,构建综合反映基-面层受力特性的FWD弯沉盆指标DD_(1)/DD_(2)(DD_(1)=D_(0)-D_(20),DD_(2)=D_(20)-D_(60),其中D_(0)、D_(20)和D_(60)分别代表距离荷载中心处0、20、60 cm的弯沉值),回归分析表明:其与基-面层层间摩擦系数具有良好的乘幂关系;进而结合现场芯样的疲劳方程和有限元模拟分析结果,推导出在满足沥青面层使用期寿命的前提下层间摩擦系数的最低要求,在此基础上对既有路面耐久性进行评估,结果与实际吻合。本文方法为后续基于FWD推算层间摩擦系数、评估路面疲劳耐久性提供了新的途径和理论依据。

石榴石型立方相Li_(7)La_(3)Zr_(2)O_(12)固态电解质的制备及储锂性能

石榴石型立方相Li_(7)La_(3)Zr_(2)O_(12)(LLZO)具有高的离子电导率和热稳定性,在固态锂电池领域颇具应用前景。煅烧温度对制备高性能立方相LLZO至关重要。为此,首先采用不同煅烧温度(1050℃、1100℃、1150℃、1200℃、1250℃)制备了LLZO,然后将10%磺酸甜菜碱改性的聚偏二氟乙烯(SB-PVDF)与90%LLZO复合制备固态电解质膜,并研究其电化学储锂性能。结果表明:在最优煅烧温度1200℃时制备的LLZO为纯立方相结构,相对致密度高达92.4%,离子电导率为1.21×10^(-4)S/cm,活化能为0.335eV,相应的固态锂电池在1.0C充放电时的放电比容量为124.3mAh/g,循环200圈后容量保持率为93.4%,优于其他样品。

砂-粉混合料颗粒接触状态的临界条件确定

砂-粉混合料被广泛应用于高速铁路路基、人工筑岛及海底沉管隧道垫层等重大工程,如何科学地表征砂-粉混合料复杂的颗粒接触状态及连续演变的力学行为特征,并深入揭示其对混合料静/动力学特性的影响已是一项紧迫的基础性科学研究任务。本文基于代表性砂-粉混合料的基本物理性能指标及力学特性指标试验数据,验证Rahman等提出的区分“细粒填充砂粒”和“砂粒悬浮细粒”的阈值细粒含量FCth半经验公式预测能力。基于理想二元介质材料的理论最小孔隙比计算方法,提出确定中间性态土颗粒接触状态临界条件参量FC_(in-min)和FC_(in-max)的方法,分析各参数对FC_(in-min)和FC_(in-max)的影响规律,建立基于基本物理性能指标的FC_(in-min)和FC_(in-max)预测方法,最终提出全FC范围(FC=0~100%)的砂-粉混合料各颗粒接触状态临界条件参量的有效评价方法。