深水采油树Spring-Seal密封圈接触模型构建与实验测试

为提高深水采油树在高压、高温、低温等工况下长时间工作的稳定性,对采油树密封圈进行重新设计,提出Spring-Seal密封圈(以下简称S密封圈);基于赫兹接触理论、填料密封接触理论,重新构建S密封圈接触力学模型;建立有限元仿真分析模型,分析不同条件下S密封圈的密封性能,同时验证新建接触模型的合理性;利用实验测试S密封圈的实际密封效果。研究结果表明:S密封圈在高压、高温、低温等工况下能够长时间稳定工作且密封性能良好。研究结果可为S密封圈的接触研究及工程运用提供理论参考。

基于s和B样条曲线的传输机构分段轨迹规划

为了改善Pecvd设备在运输石墨舟过程中遇到的振动、过量损耗等问题,提出一种分段式作业轨迹规划方法。分别采用自适应的s曲线以及B样条曲线对传输机构的两段作业轨迹进行轨迹规划,并对较复杂的B样条曲线轨迹采用自适应遗传算法进行优化;同时采用模糊PID控制方法,将机构控制误差限制在合理范围之内。通过石墨舟传输机构模型轨迹仿真实验,验证了所提出的分段轨迹规划方法可使机构运动平稳;实际样机实验验证了该方法控制信号误差在5%以内。实验结果表明,所提出的轨迹规划方法在效率、误差控制方面均符合生产需求,可用于实际生产。

基于S⁃G滤波算法的航空器着陆阶段滑行轨迹修正研究

对航空器着陆阶段运行轨迹分析是客观评价飞行员技术水平与航司运行品质的重要手段,在保障航空器安全高效运行等方面具有重要意义。通过对QAR数据中经纬度参数在地图软件中打点分析发现,航空器在跑道上减速滑行阶段轨迹出现明显的曲折、错位与偏移现象。采用S⁃G滤波算法,构建航空器着陆阶段轨迹修正模型,对航迹进行修正处理。结果表明,S⁃G滤波算法修正模型可对原始航迹进行良好修正。

APPROXIMATE CONVEXITY AND CONCAVITY OFGENERALIZED GROTZSCH RING FUNCTION

In this paper, the so-called approximate convexity and concavity properties of generalized Groetzsch ring function μa （r） by studying the monotonieity,convexity or concavity of certain composites of μa（r） are obtained.

Ring-opening Polymerization ofε-Caprolactone Using Lanthanide Tris(4-tert-butylphenolate)s as a Single-component Initiator

The ring-opening polymerization of e-caprolactone (CL) initiated by novel single lanthanide tris(4-tert-butylphenolate)s [Ln(OTBP)3] is reported. Single-component La(OTBP)3 can effectively prepare polycaprolactone (PCL) with over 90% yield and viscosity average molecular weight about 60 x 10 under quite mild conditions: molar ratio of CL to initiator is 1000, 60 C, 2 h in toluene. Mechanism study indicates that the monomer inserts into the growing chain via the break of acyl-oxygen bond of CL.

Research of robust adaptive trajectory linearization control based on T-S fuzzy system

A robust adaptive trajectory linearization control （RATLC） algorithm for a class of nonlinear systems with uncertainty and disturbance based on the T-S fuzzy system is presented. The unknown disturbance and uncertainty are estimated by the T-S fuzzy system, and a robust adaptive control law is designed by the Lyapunov theory. Irrespective of whether the dimensions of the system and the rules of the fuzzy system are large or small, there is only one parameter adjusting on line. Uniformly ultimately boundedness of all signals of the composite closed-loop system are proved by theory analysis. Finally, a numerical example is studied based on the proposed method. The simulation results demonstrate the effectiveness and robustness of the control scheme.

<i>S</i>-Injective Modules and Rings

We introduce and investigate the concept of s-injective modules and strongly s-injective modules. New characterizations of SI-rings, GV-rings and pseudo-Frobenius rings are given in terms of s-injectivity of their modules.

Gaussian Weighted Trajectory Method Ⅳ： No Rainbow Effect in Practice

The Gaussian weighted trajectory method （GWTM） is a practical implementation of classical S matrix theory （CSMT） in the random phase approximation, CSMT being the first and simplest semi-classical approach of molecular collisions, developped in the early seventies. Though very close in spirit to the purely classical description, GWTM accounts to some extent for the quantization of the different degrees-of-freedom involved in the processes. While CSMT may give diverging final state distributions, in relation to the rainbow effect of elastic scattering theory, GWTM has never led to such a mathematical catastrophe. The goal of the present note is to explain this finding.

The Kemeny’s Constant and Spanning Trees of Hexagonal Ring Network

Spanning tree(τ)has an enormous application in computer science and chemistry to determine the geometric and dynamics analysis of compact polymers.In the field of medicines,it is helpful to recognize the epidemiology of hepatitis C virus(HCV)infection.On the other hand,Kemeny’s constant(Ω)is a beneficial quantifier characterizing the universal average activities of a Markov chain.This network invariant infers the expressions of the expected number of time-steps required to trace a randomly selected terminus state since a fixed beginning state si.Levene and Loizou determined that the Kemeny’s constant can also be obtained through eigenvalues.Motivated by Levene and Loizou,we deduced the Kemeny’s constant and the number of spanning trees of hexagonal ring network by their normalized Laplacian eigenvalues and the coefficients of the characteristic polynomial.Based on the achieved results,entirely results are obtained for the M鯾ius hexagonal ring network.

Energy Gap in Saturn’s Rings

In this article, we consider, based on the super-diamagnetic model, the new problems of Saturn’s rings discovered by Cassini, such as: 1) anomalous purity of water ice;2) Saturn’s magnetic field alignment with the planet’s rotation axis;3) “ring rain” of the submicron particles;4) the deviation in the qualitative composition of the “rain” from the composition of the rings;5) “dirt” concentrated in the ring gaps;6) “plateaus” in Saturn’s C ring;7) age of the rings;8) roll-off in the spectrum of Saturn’s rings, and 9) “propellers” in Saturn’s A ring. Interpretation of Cassini’s observations of spectral roll-off in Saturn’s rings in the wavelength range from 100 micrometers to 0.5 mm is given. It was concluded that the substance of the rings could be in the superconducting state. An explanation of the Cassini spectral data is given using the hypothesis of the existence of a superconducting energy gap in the substance of rings.

Goldbach's Problem in the Matrix Ring over a Principal Ideal Domain

In this paper, we consider the Goldbach＇s problem for matrix rings, namely, we decompose an n × n （n 〉 1） matrix over a principal ideal domain R into a sum of two matrices in Mn,（R） with given determinants. We prove the following result： Let n 〉 1 be a natural number and A = （aij） be a matrix in Mn（R）. Define d（A） ：= g.c.d{aij}. Suppose that p and q are two elements in R. Then （1） If n 〉 1 is even, then A can be written as a sum of two matrices X, Y in Mn（R） with det（X） = p and det（Y） = q if and only if d（A） [ p - q; （2） If n 〉 1 is odd, then A can be written as a sum of two matrices X, Y in Mn（R） with det（X） = p and det（Y） = q if and only if d（A） ｜ p ＋ q. We apply the result to the matrices in Mn（Z） and Mn（Q[x]） and prove that if R = 7. or Q[x], then any nonzero matrix A in Mn（R） can be written as a sum of two matrices in Mn（R） with prime determinants.

A COMMUTATIVITY CONDITION FOR S-UNITAL RINGS

Let R be an s-unital ring, and we prove a commutativity theorem of R satisfying the following conditions: (l ) For each x, y∈ R,there exist bounded positive integers k =k (x,y), s=s (x,y), t =t (x,y)(where, at least one of k, s, t is not equal to 1) such

On the Convexity of Generalized Grotzsch Ring Function

In this paper,the authors study the monotoneity and convexity of certain combinations and composites defined in terms of the generalized Grotzsch ring function μa (r), which appears in Ramanujan' s generalized modular equations,and obtain some inequalities for this function.

基于Sigmoid函数的非对称式S型曲线机械臂加减速控制方法

机械臂广泛应用于制造、装配、搬运、码垛等方面,对提高生产力起着重要作用。为减小机械臂在运动过程中的振动和冲击,提高机械臂轨迹执行效率,提出一种非对称式S型曲线加减速控制方法。该方法通过在双段Sigmoid函数中插入直线段,构成加加速度连续的运动学曲线。通过粒子群算法进行参数优化求解,无需反复确认每个时间段的存在性即可求出非对称约束下的曲线参数,并分别在关节空间和笛卡尔空间采用时间同步和位移同步方法使机械臂的运动轨迹更加协调自然。结果表明,相同条件下提出的方法比三角函数方法轨迹执行效率更高且加加速度仅为三角函数方法的55%。与梯形加加速度曲线相比,采用提出的方法规划的运动轨迹可减少35.7%的残余振动,验证了该方法的有效性。

Classic of Mountains and Seas and the Origin of White Jade Worship： On the Myths of the Yellow Emperor＇s Eating Jade and Queen Mother of the West＇s Presenting the White Jade Ring

The white jade worship, born in the Shang and Zhou Dynasties, brought about a ＂Protestant Revolution＂ in the development history of Chinese jade mythology, which had deep influence on the nation＇s ideology and material production in the following 3,000 years. The myths of the Yellow Emperor＇s eating the white jade cream and the Queen Mother of the West living in Kunlun Jade Mountain, as recorded in Classic of Mountains and Seas, are mythological imaginations of the historical reality that the jades were spread from the West to the East and recreated by people living in the early state of the Central Plains. All such motifs, no matter the white jade cream that produced black jades, the Yellow Emperor＇s planting the jade flowers, the Kunlun Jade Mountains （the Mountain of Jades） where the Queen Mother of the West lives or the Jade Lake, clearly show Chinese indigenous worship for the white jades. Scholars like Su Xuelin and Ling Chunsheng think that Queen Mother of the West is the goddess of the moon that originated from the old West Asian civilization. However, such idea is full of contradictions and flaws after the discovery of Chinese unique worship for white jades and the holy mountain of Kunlun. The book Classic of Mountains and Seas, with records of 140 mountains that produce jades and 16 mountains that produce white jades, can be the white jade worshippers＇ bible to explore the holy material resources.

基于改进T-S模糊模型的弧焊机器人轨迹实时跟踪

针对弧焊机器人在实际作业中受到诸多不确定因素的影响,导致弧焊机器人焊接轨迹偏离预期轨迹的问题,提出一种基于改进T-S(Takagi-Sugeno)模糊模型的弧焊机器人轨迹实时跟踪方法。采用图像识别技术识别并定位焊缝,通过坐标转换,确定焊缝中心线在机器人坐标系中的位置坐标。利用蚁群算法根据焊缝中心线在机器人坐标系中的坐标,搜索从起始位置到目标位置的最优焊接路径。设计了一种改进区间二型T-S模糊模型,通过视觉传感器实时获取新的焊缝信息,计算轨迹误差,以此为输入,利用改进T-S模糊模型对机器人的运动轨迹进行实时调整。实验结果表明,采用改进T-S模糊模型后,机器人轨迹跟踪离散度均降至1 mm以下,弧焊机器人轨迹与预期轨迹高度重合,比传统方法跟踪离散度大大降低。

Nilpotent Elements and Nil-Reflexive Property of Generalized Power Series Rings

Let R be a ring and (S,≤) a strictly ordered monoid. In this paper, we deal with a new approach to reflexive property for rings by using nilpotent elements, in this direction we introduce the notions of generalized power series reflexive and nil generalized power series reflexive, respectively. We obtain various necessary or sufficient conditions for a ring to be generalized power series reflexive and nil generalized power series reflexive. Examples are given to show that, nil generalized power series reflexive need not be generalized power series reflexive and vice versa, and nil generalized power series reflexive but not semicommutative are presented. We proved that, if R is a left APP-ring, then R is generalized power series reflexive, and R is nil generalized power series reflexive if and only if R/I is nil generalized power series reflexive. Moreover, we investigate ring extensions which have roles in ring theory.

SINGLE LANTHANUM TRIS(N-PHENYLETHYL-3,5-DI-t-BUTYLSALICYLALDIMINATO)S INITIATOR FOR RING-OPENING POLYMERIZATION OF 1,4-DIOXAN-2-ONE IN BULK

A rare earth Schiff base complex:lanthanum tris(N-phenylethyl-3,5-di-t-butylsalicylaldiminato)s [La(OPEBS)_3] was successfully applied as single component initiator for the ring-opening polymerization of 1,4-dioxan-2-one (PDO) in bulk.The influence of reaction conditions,such as polymerization temperature,the molar ratio of the monomer to initiator (M/I) on the monomer conversion and molecular weight of the polymer has been investigated.Poly(1,4-dioxan-2-one) with a viscosity-average molecular weight (My) o...

基于分数阶S面模型的四旋翼轨迹跟踪控制

四旋翼无人机具有欠驱动、非线性、强耦合的特点。针对四旋翼无人机轨迹跟踪控制中跟踪精度低,抗外界干扰能力弱的特点,通过对四旋翼无人机进行四元数建模,使用误差四元数作为控制器输入,消除了无人机在机动角度过大时的奇点问题,提出了一种分数阶S面的控制方法,即将分数阶PID控制与S面控制融合,作为一个新的控制器。轨迹跟踪试验表明,分数阶S面控制器在四旋翼无人机控制模型中的累计误差明显小于分数阶PID,证明了该方法具有抗风扰能力强、跟踪精度高的特点。

基于ADAMS的柱塞式环模成型装置的轨迹仿真研究

为降低改进设计过程中反复更改的成本、缩短设计周期,通过SOLIDWORKS对柱塞式环模成型装置进行三维建模,并通过ADAMS对其进行动态仿真,描绘出柱塞与模孔处关键点的相对轨迹。通过这种方法对柱塞、模孔啮合过程进行分析,证明现行设计下模孔与柱塞不会发生干涉,并给出了避免干涉的柱塞空间范围,使得压辊与环模的啮合处结构设计更为合理可行。