A thrust estimator with high precision and excellent real-time performance is needed to mitigate perfor- mance deterioration for future aero-engines. A weight least squares support vector regression is proposed using ...A thrust estimator with high precision and excellent real-time performance is needed to mitigate perfor- mance deterioration for future aero-engines. A weight least squares support vector regression is proposed using a novel weighting strategy. Then a thrust estimator based on the proposed regression is designed for the perfor- mance deterioration. Compared with the existing weighting strategy, the novel one not only satisfies the require- ment of precision but also enhances the real-time performance. Finally, numerical experiments demonstrate the effectiveness and feasibility of the proposed weighted least squares support vector regression for thrust estimator. Key words : intelligent engine control; least squares ; support vector machine ; performance deterioration展开更多
Structural features, aging behavior, precipitation kinetics and mechanical properties of a 6013 Al–Mg–Si aluminum alloy subjected to equal channel angular pressing (ECAP) at different temperatures were comparative...Structural features, aging behavior, precipitation kinetics and mechanical properties of a 6013 Al–Mg–Si aluminum alloy subjected to equal channel angular pressing (ECAP) at different temperatures were comparatively investigated with that in conventional static aging by quantitative X-ray diffraction (XRD) measurements, differential scanning calorimetry (DSC) and tensile tests. Average grain sizes measured by XRD are in the range of 66-112 nm while the average dislocation density is in the range of 1.20×10^14-1.70×10^14 m^-2 in the deformed alloy. The DSC analysis reveals that the precipitation kinetics in the deformed alloy is much faster as compared with the peak-aged sample due to the smaller grains and higher dislocation density developed after ECAP. Both the yield strength (YS) and ultimate tensile strength (UTS) are dramatically increased in all the ECAP samples as compared with the undeformed counterparts. The maximum strength appears in the samples ECAP treated at room temperature and the maximum YS is about 1.6 times that of the statically peak-aged sample. The very high strength in the ECAP alloy is suggested to be related to the grain size strengthening and dislocation strengthening, as well as the precipitation strengthening contributing from the dynamic precipitation during ECAP.展开更多
The real-time capability of integrated flight/propulsion optimal control (IFPOC) is studied. An appli- cation is proposed for IFPOC by combining the onboard hybrid aero-engine model with sequential quadratic pro- gr...The real-time capability of integrated flight/propulsion optimal control (IFPOC) is studied. An appli- cation is proposed for IFPOC by combining the onboard hybrid aero-engine model with sequential quadratic pro- gramming (SQP). Firstly, a steady-state hybrid aero-engine model is designed in the whole flight envelope with a dramatic enhancement of real-time capability. Secondly, the aero-engine performance seeking control including the maximum thrust mode and the minimum fuel-consumption mode is performed by SQP. Finally, digital simu- lations for cruise and accelerating flight are carried out. Results show that the proposed method improves real- time capability considerably with satisfactory effectiveness of optimization.展开更多
This study aims to introduce a novel hybrid design with a combination of two more common mechanisms for improving the capacity of systems in absorbing the kinetic energy of moving vehicles or devices. This new model c...This study aims to introduce a novel hybrid design with a combination of two more common mechanisms for improving the capacity of systems in absorbing the kinetic energy of moving vehicles or devices. This new model consists of two individual mechanisms, i.e., expansion of a circular tube accompanied by crushing of an inner tube, which dissipate the energy through friction, plastic deformations and failures of inner tube. This study comprises 24 case studies surveyed under two different design controls, constant mass and constant volume, for comparing purposes. Finite element simulations are utilized so as to investigate models’ deformations and to extract some crashworthiness parameters in aid of representing the efficiency of the mechanism as well as conducting a parametric study between three different profiles of inner tube. This study shows that models with inner circular and hexagonal tube profile absorb higher amount of energy due to experiencing three different modes of energy dissipation systems, including folding, shear and ductile damages.展开更多
Presents a novel compliant motion control for a robot hand using the Cartesian impedance approach based on fingertip force measurements. The fingertip can accurately track desired motion in free space and appear as me...Presents a novel compliant motion control for a robot hand using the Cartesian impedance approach based on fingertip force measurements. The fingertip can accurately track desired motion in free space and appear as mechanical impedance in constrained space. In the position based impedance control strategy, any switching mode in contact transition phase is not needed. The impedance parameters can be adjusted in a certain range according to various tasks. In this paper, the analysis of the finger’s kinematics and dynamics is given. Experimental results have shown the effectiveness of this control strategy.展开更多
In order to analyze underwater robot control system dynamics features, a system 6-DOF dynamics model was founded. Underwater robot linear and nonlinear hydrodynamics were analyzed by Taylor series, based on general mo...In order to analyze underwater robot control system dynamics features, a system 6-DOF dynamics model was founded. Underwater robot linear and nonlinear hydrodynamics were analyzed by Taylor series, based on general motion equation. Special control system motion equation was deduced by cluster of inertial items and non-inertial items. For program convenience, motion equation matrix format was presented. Experimental principles of screw propellers, rudders and wings were discussed. Experimental data least-square curve fitting, interpolation and their corresponding traditional equation helped us to obtain the whole system dynamic response procedure. A series of simulation experiments show that the dynamics model is correct and reliable. The model can provide theory proof for analyzing underwater robot motion control system physics characters and provide a mathematic model for traditional control method.展开更多
AIM: To investigate whether American ginseng (AG, Panax quinquefolium) supplementation was able to improve endurance exercise performance.METHODS: Thirteen physically active male college students were divided into two...AIM: To investigate whether American ginseng (AG, Panax quinquefolium) supplementation was able to improve endurance exercise performance.METHODS: Thirteen physically active male college students were divided into two groups (AG or placebo)and received supplementation for 4 wk, before the exhaustive running exercise. Treadmill speed was increased to a pace equivalent to 80% VO2max of the subject. A 4-wk washout period followed before the subjects crossed over and received the alternate supplement for the next 4 wk.They then completed a second exhaustive running exercise. The physiological variables that were examined included time to exhaustion and oxygen pulse. Moreover,the plasma creatine kinase (CK) and lactate were measured prior to the exercise, at 15 and 30 min during exercise,immediately after exercise, and 20, 40, 60, and 120 min after exercise.RESULTS: The major finding of this investigation was that the production plasma CK during the exercise significantly decreased for group AG than for group P. Secondary physiological finding was that 80% VO2max running was not improved over a 4-wk AG supplementation regimen.CONCLUSION: Supplementation with AG for 4 wk prior to an exhaustive aerobic treadmill running reduced the leakage of CK during exercise, but did not enhance aerobic work capacity. The reduction of plasma CK may be due to the fact that AG is effective for the decrease of skeletal muscle cell membrane damage, induced by exercise during the high-intensity treadmill run.展开更多
AIM: To elucidate the significance of Doppler measurements of hepatic vein in cirrhotic patients and to correlate with liver dysfunction and hepatic hemodynamics. METHODS: One hundred patients with liver cirrhosis and...AIM: To elucidate the significance of Doppler measurements of hepatic vein in cirrhotic patients and to correlate with liver dysfunction and hepatic hemodynamics. METHODS: One hundred patients with liver cirrhosis and 60 non-cirrhotic controls were studied. Doppler waveforms were obtained from right hepatic vein and flow velocity measured during quiet respiration. Doppler measurements were also obtained from portal trunk, right portal vein and proper hepatic artery. RESULTS: Hepatic vein waveforms were classified into three classical patterns. Flat waveform was uncommon. Mean hepatic vein velocity was significantly higher in cirrhotic patients (12.7 ± 6.4 vs 5.1 ± 2.1 and 6.2 ± 3.2 cm/s; P < 0.0001). The poorer the grade of cirrhosis, the higher was the mean velocity. Maximum forward velocity was never greater than 40 cm/s in controls. Degree of ascites was found to be highly correlated with mean velocity. “Very high” group (≥ 20 cm/s) presented clinically with moderate to massive ascites. Correlations between right portal flow and mean velocity was significant (P < 0.0001, r = 0.687). CONCLUSION: Doppler waveforms of hepatic vein, which is independent of liver dysfunction, should be obtained during normal respiration. Mean hepatic vein velocity reflects the change in hepatic circulation associated with progression of liver cirrhosis. It can be used as a new parameter in the assessment of liver cirrhosis.展开更多
Effects of welding speed on the microstructure evolution in the stir zone(SZ)and mechanical properties of the friction stir welding(FSW)joints were studied by OM,XRD,SEM,TEM,EBSD and tensile testing.Compared with the ...Effects of welding speed on the microstructure evolution in the stir zone(SZ)and mechanical properties of the friction stir welding(FSW)joints were studied by OM,XRD,SEM,TEM,EBSD and tensile testing.Compared with the base metal(BM),an obviously fine dynamic recrystallization(DRX)microstructure occurs in the SZ and the DRX grain size decreases from 5.6 to 4.4μm with the increasing of welding speed.Fine DRX microstructure is mainly achieved by continuous dynamic recrystallization(CDRX)mechanism,strain induced boundary migration(SIBM)mechanism and particle stimulated nucleation(PSN)mechanism.Meanwhile,the geometric coalescence and the Burke−Turnbull mechanism are the main DRX grain growth mechanisms.Among all the welding speeds,the joint welded at rotation speed of 1500 r/min and welding speed of 75 mm/min has the greatest tensile properties,i.e.ultimate tensile strength(UTS)of(509±2)MPa,yield strength(YS)of(282±4)MPa,elongation(El)of(23±1)%,and the joint efficiency of 73%.展开更多
Air conditioning (AC) system is the one with asynchronous and uncertain nature. In this paper, the fuzzy discrete event system (FDES) is introduced to the research of AC energy-saving control. A fuzzy automaton modeli...Air conditioning (AC) system is the one with asynchronous and uncertain nature. In this paper, the fuzzy discrete event system (FDES) is introduced to the research of AC energy-saving control. A fuzzy automaton modeling is given for AC energy-saving control and effectiveness optimization is made. To facilitate the implement of the control and energy saving, priorities have been assigned to the major control steps based on logical reasoning. Forward-looking tree modeling based on FDES has been simplified to help further optimization, and a simple and concrete example has been put forward illustrating energy-saving control in AC system.展开更多
A mobile mechanism with four tracked-units for a missing miner search robot (MMSR) is presented, with a design based on the terrain features and atrocious environment of an underground mine. Its structure and working ...A mobile mechanism with four tracked-units for a missing miner search robot (MMSR) is presented, with a design based on the terrain features and atrocious environment of an underground mine. Its structure and working prin- ciple is discussed. The four tracked-units are controlled independently and driven cooperatively. By means of two DC motors being controlled respectively, one tracked-unit can accomplish two types of driving mode: tracked travel and in- tegral unit legged rotation (IULR), forming a track-legged compound function mechanism. Its capabilities of surmount- ing obstacles and its toppling stability in underground mines have also been analyzed. The results show that the mobile mechanism can directly surmount an obstacle of the height less than the length of one tracked-unit and get across a raceway with a span less than the length of one tracked-unit by using tracked travel and IULR. Its unstable slope angle is 51.3°. Toppling stability is determined by its structural size, moving direction and slope angle. IULR of four tracked-units can adjust the robot’s posture and then enhance toppling stability or assist in surmounting obstacles. Its track-legged compound function mechanism makes it suitable for working in underground mines.展开更多
The rapid development of urban rail transit brings convenience to the public,but its huge energy consumption problem cannot be ignored.A microgrid composed of photovoltaic power generation unit,regenerative braking en...The rapid development of urban rail transit brings convenience to the public,but its huge energy consumption problem cannot be ignored.A microgrid composed of photovoltaic power generation unit,regenerative braking energy feedback unit and battery energy storage unit is proposed,which provides green power for the station.In order to suppress the fluctuation of photovoltaic power generation and the intermittence of regenerative braking feedback energy,the energy management mode of microgrid is designed according to the illumination situation,braking energy feedback situation,battery state of charge and so on.In addition,a coordination control method based on virtual synchronous generator(VSG)is proposed to realize smooth switching among modes.Finally,the proposed energy management and coordination control method for elevated station microgrid is verified by Matlab/Simulink.The results show that the elevated station microgrid can operate safely and reliably under various energy management modes and realize smooth switching among modes.展开更多
The phenomenon of debris flow is intermediate between mass movement and solid transport. Flows can be sudden, severe and destructive. Understanding debris flow erosion processes is the key to providing geomorphic expl...The phenomenon of debris flow is intermediate between mass movement and solid transport. Flows can be sudden, severe and destructive. Understanding debris flow erosion processes is the key to providing geomorphic explanations, but progress has been limited because the physical-mechanical properties, movement laws and erosion characteristics are different from those of sediment-laden flow. Using infinite slope theory, this research examines the process and mechanism of downcutting erosion over a moveable bed in a viscous debris flow gully. It focuses specifically on the scour depth and the critical slope for viscous debris flow,and formulas for both calculations are presented.Both scour depth and the critical conditions of downcutting erosion are related to debris flow properties(sand volume concentration and flow depth) and gully properties(longitudinal slope,viscous and internal friction angle of gully materials,and coefficient of kinetic friction). In addition, a series of flume experiments was carried out to characterize the scouring process of debris flows with different properties. The calculated values agreed well with the experimental data. These theoretical formulas are reasonable, and using infinite slope theory to analyze down cutting erosion from viscous debris flow is feasible.展开更多
The effects of minor Sc and Zr additions on the mechanical properties and microstructure evolution of Al Zn Mg Cu alloys were studied using tensile tests, scanning electron microscopy (SEM) and transmission electron m...The effects of minor Sc and Zr additions on the mechanical properties and microstructure evolution of Al Zn Mg Cu alloys were studied using tensile tests, scanning electron microscopy (SEM) and transmission electron microscopy (TEM). The ultimate tensile strength of the peak-aged Al Zn Mg Cu alloy is improved by about 105 MPa with the addition of 0.10% Zr. An increase of about 133 MPa is observed with the joint addition of 0.07% Sc and 0.07% Zr. For the alloys modified with the minor addition of Sc and Zr (0.14%), the main strengthening mechanisms of minor addition of Sc and Zr are fine-grain strengthening, sub-structure strengthening and the Orowan strengthening mechanism produced by the Al3(Sc,Zr) and Al3Zr dispersoids. The volume of Al3Zr particles is less than that of Al3(Sc,Zr) particles, but the distribution of Al3(Sc,Zr) particles is more dispersed throughout the matrix leading to pinning the dislocations motion and restraining the recrystallization more effectively.展开更多
Reduced blood flow is the principle pathophysiologic event in acute ischernic stroke.Hence,flow augmentation is the most important goal in stroke management.Improvement of cerebral blood flow can be accomplished by pr...Reduced blood flow is the principle pathophysiologic event in acute ischernic stroke.Hence,flow augmentation is the most important goal in stroke management.Improvement of cerebral blood flow can be accomplished by proximal arterial recanalization or by other systemic approaches.Diastolic counterpulsation is a non-invasive method to improve the perfusion of heart,kidneys and brain.This review summarizes the history,possible mechanism and the role of external counterpulsation in ischemic stroke.展开更多
基金Supported by the National Natural Science Foundation of China(51006052)the Nanjing University of Science and Technology Outstanding Scholar Supporting Program~~
文摘A thrust estimator with high precision and excellent real-time performance is needed to mitigate perfor- mance deterioration for future aero-engines. A weight least squares support vector regression is proposed using a novel weighting strategy. Then a thrust estimator based on the proposed regression is designed for the perfor- mance deterioration. Compared with the existing weighting strategy, the novel one not only satisfies the require- ment of precision but also enhances the real-time performance. Finally, numerical experiments demonstrate the effectiveness and feasibility of the proposed weighted least squares support vector regression for thrust estimator. Key words : intelligent engine control; least squares ; support vector machine ; performance deterioration
基金Project(BK2012715)supported by the Basic Research Program(Natural Science Foundation)of Jiangsu Province,ChinaProject(14KJA430002)supported by the Key University Science Research Project of Jiangsu Province,China+3 种基金Project(50971087)supported by the National Natural Science Foundation of ChinaProjects(11JDG070,11JDG140)supported by the Senior Talent Research Foundation of Jiangsu University,ChinaProject(hsm1301)supported by the Foundation of the Jiangsu Province Key Laboratory of High-end Structural Materials,ChinaProject(Kjsmcx2011004)supported by the Foundation of the Jiangsu Province Key Laboratory of Materials Tribology,China
文摘Structural features, aging behavior, precipitation kinetics and mechanical properties of a 6013 Al–Mg–Si aluminum alloy subjected to equal channel angular pressing (ECAP) at different temperatures were comparatively investigated with that in conventional static aging by quantitative X-ray diffraction (XRD) measurements, differential scanning calorimetry (DSC) and tensile tests. Average grain sizes measured by XRD are in the range of 66-112 nm while the average dislocation density is in the range of 1.20×10^14-1.70×10^14 m^-2 in the deformed alloy. The DSC analysis reveals that the precipitation kinetics in the deformed alloy is much faster as compared with the peak-aged sample due to the smaller grains and higher dislocation density developed after ECAP. Both the yield strength (YS) and ultimate tensile strength (UTS) are dramatically increased in all the ECAP samples as compared with the undeformed counterparts. The maximum strength appears in the samples ECAP treated at room temperature and the maximum YS is about 1.6 times that of the statically peak-aged sample. The very high strength in the ECAP alloy is suggested to be related to the grain size strengthening and dislocation strengthening, as well as the precipitation strengthening contributing from the dynamic precipitation during ECAP.
基金Supported by the Aeronautical Science Foundation of China(2010ZB52011)the Funding of Jiangsu Innovation Program for Graduate Education(CXLX11-0213)the Nanjing University of Aeronautics and Astronautics Research Funding(NS2010055)~~
文摘The real-time capability of integrated flight/propulsion optimal control (IFPOC) is studied. An appli- cation is proposed for IFPOC by combining the onboard hybrid aero-engine model with sequential quadratic pro- gramming (SQP). Firstly, a steady-state hybrid aero-engine model is designed in the whole flight envelope with a dramatic enhancement of real-time capability. Secondly, the aero-engine performance seeking control including the maximum thrust mode and the minimum fuel-consumption mode is performed by SQP. Finally, digital simu- lations for cruise and accelerating flight are carried out. Results show that the proposed method improves real- time capability considerably with satisfactory effectiveness of optimization.
文摘This study aims to introduce a novel hybrid design with a combination of two more common mechanisms for improving the capacity of systems in absorbing the kinetic energy of moving vehicles or devices. This new model consists of two individual mechanisms, i.e., expansion of a circular tube accompanied by crushing of an inner tube, which dissipate the energy through friction, plastic deformations and failures of inner tube. This study comprises 24 case studies surveyed under two different design controls, constant mass and constant volume, for comparing purposes. Finite element simulations are utilized so as to investigate models’ deformations and to extract some crashworthiness parameters in aid of representing the efficiency of the mechanism as well as conducting a parametric study between three different profiles of inner tube. This study shows that models with inner circular and hexagonal tube profile absorb higher amount of energy due to experiencing three different modes of energy dissipation systems, including folding, shear and ductile damages.
文摘Presents a novel compliant motion control for a robot hand using the Cartesian impedance approach based on fingertip force measurements. The fingertip can accurately track desired motion in free space and appear as mechanical impedance in constrained space. In the position based impedance control strategy, any switching mode in contact transition phase is not needed. The impedance parameters can be adjusted in a certain range according to various tasks. In this paper, the analysis of the finger’s kinematics and dynamics is given. Experimental results have shown the effectiveness of this control strategy.
文摘In order to analyze underwater robot control system dynamics features, a system 6-DOF dynamics model was founded. Underwater robot linear and nonlinear hydrodynamics were analyzed by Taylor series, based on general motion equation. Special control system motion equation was deduced by cluster of inertial items and non-inertial items. For program convenience, motion equation matrix format was presented. Experimental principles of screw propellers, rudders and wings were discussed. Experimental data least-square curve fitting, interpolation and their corresponding traditional equation helped us to obtain the whole system dynamic response procedure. A series of simulation experiments show that the dynamics model is correct and reliable. The model can provide theory proof for analyzing underwater robot motion control system physics characters and provide a mathematic model for traditional control method.
基金Supported by the Taiwan Biotech Co., Taiwan, China
文摘AIM: To investigate whether American ginseng (AG, Panax quinquefolium) supplementation was able to improve endurance exercise performance.METHODS: Thirteen physically active male college students were divided into two groups (AG or placebo)and received supplementation for 4 wk, before the exhaustive running exercise. Treadmill speed was increased to a pace equivalent to 80% VO2max of the subject. A 4-wk washout period followed before the subjects crossed over and received the alternate supplement for the next 4 wk.They then completed a second exhaustive running exercise. The physiological variables that were examined included time to exhaustion and oxygen pulse. Moreover,the plasma creatine kinase (CK) and lactate were measured prior to the exercise, at 15 and 30 min during exercise,immediately after exercise, and 20, 40, 60, and 120 min after exercise.RESULTS: The major finding of this investigation was that the production plasma CK during the exercise significantly decreased for group AG than for group P. Secondary physiological finding was that 80% VO2max running was not improved over a 4-wk AG supplementation regimen.CONCLUSION: Supplementation with AG for 4 wk prior to an exhaustive aerobic treadmill running reduced the leakage of CK during exercise, but did not enhance aerobic work capacity. The reduction of plasma CK may be due to the fact that AG is effective for the decrease of skeletal muscle cell membrane damage, induced by exercise during the high-intensity treadmill run.
文摘AIM: To elucidate the significance of Doppler measurements of hepatic vein in cirrhotic patients and to correlate with liver dysfunction and hepatic hemodynamics. METHODS: One hundred patients with liver cirrhosis and 60 non-cirrhotic controls were studied. Doppler waveforms were obtained from right hepatic vein and flow velocity measured during quiet respiration. Doppler measurements were also obtained from portal trunk, right portal vein and proper hepatic artery. RESULTS: Hepatic vein waveforms were classified into three classical patterns. Flat waveform was uncommon. Mean hepatic vein velocity was significantly higher in cirrhotic patients (12.7 ± 6.4 vs 5.1 ± 2.1 and 6.2 ± 3.2 cm/s; P < 0.0001). The poorer the grade of cirrhosis, the higher was the mean velocity. Maximum forward velocity was never greater than 40 cm/s in controls. Degree of ascites was found to be highly correlated with mean velocity. “Very high” group (≥ 20 cm/s) presented clinically with moderate to massive ascites. Correlations between right portal flow and mean velocity was significant (P < 0.0001, r = 0.687). CONCLUSION: Doppler waveforms of hepatic vein, which is independent of liver dysfunction, should be obtained during normal respiration. Mean hepatic vein velocity reflects the change in hepatic circulation associated with progression of liver cirrhosis. It can be used as a new parameter in the assessment of liver cirrhosis.
文摘Effects of welding speed on the microstructure evolution in the stir zone(SZ)and mechanical properties of the friction stir welding(FSW)joints were studied by OM,XRD,SEM,TEM,EBSD and tensile testing.Compared with the base metal(BM),an obviously fine dynamic recrystallization(DRX)microstructure occurs in the SZ and the DRX grain size decreases from 5.6 to 4.4μm with the increasing of welding speed.Fine DRX microstructure is mainly achieved by continuous dynamic recrystallization(CDRX)mechanism,strain induced boundary migration(SIBM)mechanism and particle stimulated nucleation(PSN)mechanism.Meanwhile,the geometric coalescence and the Burke−Turnbull mechanism are the main DRX grain growth mechanisms.Among all the welding speeds,the joint welded at rotation speed of 1500 r/min and welding speed of 75 mm/min has the greatest tensile properties,i.e.ultimate tensile strength(UTS)of(509±2)MPa,yield strength(YS)of(282±4)MPa,elongation(El)of(23±1)%,and the joint efficiency of 73%.
基金PhD Programs Foundation of Ministry of Education of China( No.20060255006)Cultivation Fund of the Key Scientific and Technical Innovation Project from Ministry of Education of China (No.706024)
文摘Air conditioning (AC) system is the one with asynchronous and uncertain nature. In this paper, the fuzzy discrete event system (FDES) is introduced to the research of AC energy-saving control. A fuzzy automaton modeling is given for AC energy-saving control and effectiveness optimization is made. To facilitate the implement of the control and energy saving, priorities have been assigned to the major control steps based on logical reasoning. Forward-looking tree modeling based on FDES has been simplified to help further optimization, and a simple and concrete example has been put forward illustrating energy-saving control in AC system.
文摘A mobile mechanism with four tracked-units for a missing miner search robot (MMSR) is presented, with a design based on the terrain features and atrocious environment of an underground mine. Its structure and working prin- ciple is discussed. The four tracked-units are controlled independently and driven cooperatively. By means of two DC motors being controlled respectively, one tracked-unit can accomplish two types of driving mode: tracked travel and in- tegral unit legged rotation (IULR), forming a track-legged compound function mechanism. Its capabilities of surmount- ing obstacles and its toppling stability in underground mines have also been analyzed. The results show that the mobile mechanism can directly surmount an obstacle of the height less than the length of one tracked-unit and get across a raceway with a span less than the length of one tracked-unit by using tracked travel and IULR. Its unstable slope angle is 51.3°. Toppling stability is determined by its structural size, moving direction and slope angle. IULR of four tracked-units can adjust the robot’s posture and then enhance toppling stability or assist in surmounting obstacles. Its track-legged compound function mechanism makes it suitable for working in underground mines.
基金National Natural Science Foundation of China(No.51367010)Science and Technology Program of Gansu Province(No.17JR5RA083)Program for Excellent Team of Scientific Research in Lanzhou Jiaotong University(No.201701)
文摘The rapid development of urban rail transit brings convenience to the public,but its huge energy consumption problem cannot be ignored.A microgrid composed of photovoltaic power generation unit,regenerative braking energy feedback unit and battery energy storage unit is proposed,which provides green power for the station.In order to suppress the fluctuation of photovoltaic power generation and the intermittence of regenerative braking feedback energy,the energy management mode of microgrid is designed according to the illumination situation,braking energy feedback situation,battery state of charge and so on.In addition,a coordination control method based on virtual synchronous generator(VSG)is proposed to realize smooth switching among modes.Finally,the proposed energy management and coordination control method for elevated station microgrid is verified by Matlab/Simulink.The results show that the elevated station microgrid can operate safely and reliably under various energy management modes and realize smooth switching among modes.
基金supported by the National Natural Science Foundation of China (Grant Nos.50979103 and 40901007)
文摘The phenomenon of debris flow is intermediate between mass movement and solid transport. Flows can be sudden, severe and destructive. Understanding debris flow erosion processes is the key to providing geomorphic explanations, but progress has been limited because the physical-mechanical properties, movement laws and erosion characteristics are different from those of sediment-laden flow. Using infinite slope theory, this research examines the process and mechanism of downcutting erosion over a moveable bed in a viscous debris flow gully. It focuses specifically on the scour depth and the critical slope for viscous debris flow,and formulas for both calculations are presented.Both scour depth and the critical conditions of downcutting erosion are related to debris flow properties(sand volume concentration and flow depth) and gully properties(longitudinal slope,viscous and internal friction angle of gully materials,and coefficient of kinetic friction). In addition, a series of flume experiments was carried out to characterize the scouring process of debris flows with different properties. The calculated values agreed well with the experimental data. These theoretical formulas are reasonable, and using infinite slope theory to analyze down cutting erosion from viscous debris flow is feasible.
基金Project (2016B090931004) supported by the Scientific and Research Plan of Guangdong Province, ChinaProject (51601229) supported by the National Natural Science Foundation of China。
文摘The effects of minor Sc and Zr additions on the mechanical properties and microstructure evolution of Al Zn Mg Cu alloys were studied using tensile tests, scanning electron microscopy (SEM) and transmission electron microscopy (TEM). The ultimate tensile strength of the peak-aged Al Zn Mg Cu alloy is improved by about 105 MPa with the addition of 0.10% Zr. An increase of about 133 MPa is observed with the joint addition of 0.07% Sc and 0.07% Zr. For the alloys modified with the minor addition of Sc and Zr (0.14%), the main strengthening mechanisms of minor addition of Sc and Zr are fine-grain strengthening, sub-structure strengthening and the Orowan strengthening mechanism produced by the Al3(Sc,Zr) and Al3Zr dispersoids. The volume of Al3Zr particles is less than that of Al3(Sc,Zr) particles, but the distribution of Al3(Sc,Zr) particles is more dispersed throughout the matrix leading to pinning the dislocations motion and restraining the recrystallization more effectively.
文摘Reduced blood flow is the principle pathophysiologic event in acute ischernic stroke.Hence,flow augmentation is the most important goal in stroke management.Improvement of cerebral blood flow can be accomplished by proximal arterial recanalization or by other systemic approaches.Diastolic counterpulsation is a non-invasive method to improve the perfusion of heart,kidneys and brain.This review summarizes the history,possible mechanism and the role of external counterpulsation in ischemic stroke.