Design and implementation of a modular self-reconfigurable robot

A novel modular self-reconfigurable robot called UBot is presented.This robot consists of severalstandard modules.The module is cubic structure based on double rotational DOF,and has four connect-ing surfaces that can connect to adjacent modules.A hook-type mechanism is designed,which can quick-ly and reliably connect to or disconnect from adjacent module.This mechanism is self-locking after con-nected,and energy-saving.To achieve small overall size and mass,compact mechanical structures andelectrical systems are adopted in modular design.The modules have embedded power supply and adoptwireless communication,which can avoid cable-winding and improve flexibility of locomotion and self-re-configuration.A group of UBot modules can adapt their configuration and function to the changing envi-ronment without external help by changing their connections and positions .The basic motion and self-re-configuration are proposed,and the experiments of worm-like locomotion are implemented.

Absorption of Sulphur Dioxide with Sodium Citrate Buffer Solution in a Rotating Packed Bed

Absorption of SO2 from a SO2/air mixture with sodium citrate buffer solution was investigated using a rotating packed bed(RPB) in laboratory scale.The effects of operating parameters,such as the rotation speed of RPB,liquid-gas ratio,inlet gas flow rate,inlet concentration of SO2 in flue gas,sodium citrate buffer concentration and initial pH of absorption solution,on the SO2 concentration in the absorption solution or removal efficiency of SO2 were examined.Incremental rate of sulfate radical ions in the absorption solution was also examined.Experimental results indicate that the efficiency of this regenerative process will be improved by using RPB under appropriate operating conditions,and the generation of SO2-4 will be restrained in the process in RPB.

石墨电极机械加工检测中的若干问题

针对在石墨电极机械加工检测过程中发现的若干问题进行论述,并尝试对所述问题进行分析,以指导石墨电极的生产加工和实际使用。

Analysis on Lean Blowout of Swirl Cup Combustor at Atmospheric Pressure Condition

The experimental data of lean blowout fuel/air ratio of a rectangular swirl cup combustor with different inlet temperatures was obtained at atmospheric pressure condition.Numerical simulations both burning and non-burning were performed corresponding to the experimental data at lean blowout.Results indicated that the size of the recirculation region in the primary zone was obviously smaller when burning than non-burning,but the locations of the cores of their recirculation regions were almost the same.The increase of inlet air temperature didn't mean the rise of the temperature of recirculation region core.The location of the maximum temperature in the primary zone was not the same as that one of the core temperature of the recirculation region.Further more,the reasons were analyzed how the lean blowout fuel/air ratio changed with the inlet temperature increasing under the actions of factors both positive and negative to combustion,and this would be helpful to deepen the understanding of the lean blowout process of swirl cup combustor.

LBE simulation of impinging stream inside a T-junction mixer

Lattice Boltzmann Equation(LBE) method is utilized to simulate impinging stream(IS) in a T-junction mixer using a TD2G9 model. It aims to investigate the influence of Reynolds number(Re), aspect ratio of outlet diameter to inlet diameter, ratio of opposite inlet velocities, and the thermal boundary conditions on flow, mixing and heat transfer characteristics. In particular, the vortex evolution, velocity distribution, mixing index and Nusselt number(Nu) distribution in the T-junction mixer are explored in details. Four types of vortices and flow regimes are observed. The instantaneous and time-averaged flow and thermal fields,including vortex structure, transition of flow regimes, streamline and the Nusselt number distribution are discussed. Distinct quantitative transitions, even for dramatic change, are observed near the critical Re. At a low or moderate aspect ratio, the symmetric coherent structure is observed in an unstable flow regime. At a larger aspect ratio, the flow in the T-mixer becomes turbulent and asymmetric. The unequal injections velocities of the nozzles impose significant influence on the flow structure,mixing and heat transfer in vertical tube. Using larger difference between the two inlet velocities can result in more obvious change in flow characteristics. Moreover, mixing index is found to be valid in evaluating the mixing degree under a sinusoidal inlet velocity.