In order to promote the tolerance and controllability of the multi-degree-of-freedom(M-DOF) ultrasonic motor, a novel two-degree-of-freedom(2-DOF) spherical ultrasonic motor using three traveling-wave type annular sta...In order to promote the tolerance and controllability of the multi-degree-of-freedom(M-DOF) ultrasonic motor, a novel two-degree-of-freedom(2-DOF) spherical ultrasonic motor using three traveling-wave type annular stators was put forward. Firstly,the structure and working principle of this motor were introduced, especially a spiral spring as the preload applied component was designed for adaptive adjustment. Then, the friction drive model of 2-DOF spherical motor was built up from spatial geometric relation between three annular stators and the spherical rotor which was used to analyze the mechanical characteristics of the motor.The optimal control strategy for minimum norm solution of three stators' angular velocity was proposed, using Moore-Penrose generalized inverse matrix. Finally, a 2-DOF prototype was fabricated and tested, which ran stably and controllably. The maximum no-load velocity and stall torque are 92 r/min and 90 m N·m, respectively. The 2-DOF spherical ultrasonic motor has compact structure, easy assembly, good performance and stable operation.展开更多
This paper presents the composition of the lizard fauna of Maringa-Lopori-Wamba landscape in the western portion of the central Congo basin in the Democratic Republic of the Congo and its weak similarity with the liza...This paper presents the composition of the lizard fauna of Maringa-Lopori-Wamba landscape in the western portion of the central Congo basin in the Democratic Republic of the Congo and its weak similarity with the lizard fauna of Gaboon and Ituri faunal areas. It also fills a gap of knowledge in a region where no previous research on Sauria has been undertaken and signals the presence ofLeptosiaphos hylophilus and Lygodactylus n. sp. The paper mentions the finding of a subspecies of Gastropholis echinata. These data are important since collected for the first time in a spot where no herpetological research on lizards has previously been undertaken.展开更多
A space experiment on bubble behavior and heat transfer in subcooled pool boiling phenomenon has been performedutilizing the temperature-controlled pool boiling (TCPB) device both in normal gravity in the laboratoryan...A space experiment on bubble behavior and heat transfer in subcooled pool boiling phenomenon has been performedutilizing the temperature-controlled pool boiling (TCPB) device both in normal gravity in the laboratoryand in microgravity aboard the 22^(nd) Chinese recoverable satellite. The fluid is degassed R113 at 0.1 MPa andsubcooled by 26℃ nominally. A thin platinum wire of 60 μm in diameter and 30 mm in length is simultaneouslyused as heater and thermometer. Only the dynamics of the vapor bubbles, particularly the lateral motion and thedeparture of discrete vapor bubbles in nucleate pool boiling are reported and analyzed in the present paper. It'sfound that these distinct behaviors can be explained by the Marangoni convection in the liquid surrounding vaporbubbles. The origin of the Marangoni effect is also discussed.展开更多
基金Project(51107111)supported by the National Natural Science Foundation of China
文摘In order to promote the tolerance and controllability of the multi-degree-of-freedom(M-DOF) ultrasonic motor, a novel two-degree-of-freedom(2-DOF) spherical ultrasonic motor using three traveling-wave type annular stators was put forward. Firstly,the structure and working principle of this motor were introduced, especially a spiral spring as the preload applied component was designed for adaptive adjustment. Then, the friction drive model of 2-DOF spherical motor was built up from spatial geometric relation between three annular stators and the spherical rotor which was used to analyze the mechanical characteristics of the motor.The optimal control strategy for minimum norm solution of three stators' angular velocity was proposed, using Moore-Penrose generalized inverse matrix. Finally, a 2-DOF prototype was fabricated and tested, which ran stably and controllably. The maximum no-load velocity and stall torque are 92 r/min and 90 m N·m, respectively. The 2-DOF spherical ultrasonic motor has compact structure, easy assembly, good performance and stable operation.
文摘This paper presents the composition of the lizard fauna of Maringa-Lopori-Wamba landscape in the western portion of the central Congo basin in the Democratic Republic of the Congo and its weak similarity with the lizard fauna of Gaboon and Ituri faunal areas. It also fills a gap of knowledge in a region where no previous research on Sauria has been undertaken and signals the presence ofLeptosiaphos hylophilus and Lygodactylus n. sp. The paper mentions the finding of a subspecies of Gastropholis echinata. These data are important since collected for the first time in a spot where no herpetological research on lizards has previously been undertaken.
基金supported financially by the Na tional Natural Science Foundation of China under the grant of 10432060 the Chinese Academy of Sci ences under the grant of KJCX2-SW-L05.
文摘A space experiment on bubble behavior and heat transfer in subcooled pool boiling phenomenon has been performedutilizing the temperature-controlled pool boiling (TCPB) device both in normal gravity in the laboratoryand in microgravity aboard the 22^(nd) Chinese recoverable satellite. The fluid is degassed R113 at 0.1 MPa andsubcooled by 26℃ nominally. A thin platinum wire of 60 μm in diameter and 30 mm in length is simultaneouslyused as heater and thermometer. Only the dynamics of the vapor bubbles, particularly the lateral motion and thedeparture of discrete vapor bubbles in nucleate pool boiling are reported and analyzed in the present paper. It'sfound that these distinct behaviors can be explained by the Marangoni convection in the liquid surrounding vaporbubbles. The origin of the Marangoni effect is also discussed.
