Laser cladding experiments were done on a 5-kW continuous wave CO2 laser to synthesize TiC and TiB rein- fowed titanium matrix composite coatings on Ti-6AI-4V alloy with a mixture of Ti and B4C precursor powder. The t...Laser cladding experiments were done on a 5-kW continuous wave CO2 laser to synthesize TiC and TiB rein- fowed titanium matrix composite coatings on Ti-6AI-4V alloy with a mixture of Ti and B4C precursor powder. The ther- modynamics of the reactions were calculated and analyzed. The microstructure and phase evolution of TiB and TiC com- posites were investigated. The results showed that the chemical reaction between Ti and B4C would release much heat, and these compounds, TiC, TiB, and small amount of TiB2, can be formed on the surface of Ti-6AI-4V alloy if the supplied en- ergy is sufficient to excite the reaction among the initial products. A good metallurgical bond between the coating and the substrate can be achieved. The microhardness of coating was irregular and the maximum value was approximately HV600.展开更多
With a new apparatus designed and assembled by ourselves, the matrix potential of non-saturated loess was firstly measured and studied during methane hydrate formation processes. The experimental results showed that d...With a new apparatus designed and assembled by ourselves, the matrix potential of non-saturated loess was firstly measured and studied during methane hydrate formation processes. The experimental results showed that during two formation processes, the matrix potential changes of the loess all presented a good linear relationship with water conversion ratios. In addition, although it was well known that the secondary gas hydrate formation was easier than the initial, our experimental results showed that the initial hydrate formation efficiency in non-saturated loess was higher than that of the secondary.展开更多
A new set of relative orbit elements (ROEs) is used to derive a new elliptical formation flying model in previous work. In-plane and out-of-plane relative motions can be completely decoupled, which benefits elliptical...A new set of relative orbit elements (ROEs) is used to derive a new elliptical formation flying model in previous work. In-plane and out-of-plane relative motions can be completely decoupled, which benefits elliptical formation design. In order to study the elliptical control strategy and perturbation effects, it is necessary to derive the inverse transformation of the relative state transition matrix based on relative orbit elements. Poisson bracket theory is used to obtain the linear transformations between the two representations: the relative orbit elements and the geocentric orbital frame. In this paper, the details of these transformations are presented.展开更多
This paper researched into some methods for generating min-weighted rigid graphs and min-weighted persistent graphs. Rigidity and persistence are currently used in various studies on coordination and control of autono...This paper researched into some methods for generating min-weighted rigid graphs and min-weighted persistent graphs. Rigidity and persistence are currently used in various studies on coordination and control of autonomous multi-agent formations. To minimize the communication complexity of formations and reduce energy consumption, this paper introduces the rigidity matrix and presents three algorithms for generating rain-weighted rigid and min- weighted persistent graphs. First, the existence of a min-weighted rigid graph is proved by using the rigidity matrix, and algorithm 1 is presented to generate the min-weighted rigid graphs. Second, the algorithm 2 based on the rigidity matrix is presented to direct the edges of min-weighted rigid graphs to generate min-weighted persistent graphs. Third, the formations with range constraints are considered, and algorithm 3 is presented to find whether a framework can form a min-weighted persistent formation. Finally, some simulations are given to show the efficiency of our research.展开更多
A noise-reduction method with sliding called the local f-x Cadzow noise-reduction method, windows in the frequency-space （f-x） domain, is presented in this paper. This method is based on the assumption that the sign...A noise-reduction method with sliding called the local f-x Cadzow noise-reduction method, windows in the frequency-space （f-x） domain, is presented in this paper. This method is based on the assumption that the signal in each window is linearly predictable in the spatial direction while the random noise is not. For each Toeplitz matrix constructed by constant frequency slice, a singular value decomposition （SVD） is applied to separate signal from noise. To avoid edge artifacts caused by zero percent overlap between windows and to remove more noise, an appropriate overlap is adopted. Besides flat and dipping events, this method can enhance curved and conflicting events. However, it is not suitable for seismic data that contains big spikes or null traces. It is also compared with the SVD, f-x deconvolution, and Cadzow method without windows. The comparison results show that the local Cadzow method performs well in removing random noise and preserving signal. In addition, a real data example proves that it is a potential noise-reduction technique for seismic data obtained in areas of complex formations.展开更多
In this paper, decentralized methods of optimally rigid graphs generation for formation control are researched. The notion of optimally rigid graph is first defined in this paper to describe a special kind of rigid gr...In this paper, decentralized methods of optimally rigid graphs generation for formation control are researched. The notion of optimally rigid graph is first defined in this paper to describe a special kind of rigid graphs. The optimally rigid graphs can be used to decrease the topology complexity of graphs while maintaining their shapes. To minimize the communication complexity of formations, we study the theory of optimally rigid formation generation. First, four important propositions are presented to demonstrate the feasibility of using a decentralized method to generate optimally rigid graphs. Then, a formation algorithm for multi-agent systems based on these propositions is proposed. At last, some simulation examples are given to show the efficiency of the proposed algorithm.展开更多
Technically, a group of more than two wheeled mobile robots working collectively towards a common goal are known as a multi-robot system. An increasing number of industries have implemented multi-robot systems to elim...Technically, a group of more than two wheeled mobile robots working collectively towards a common goal are known as a multi-robot system. An increasing number of industries have implemented multi-robot systems to eliminate the risk of human injuries while working on hazardous tasks, and to improve productivity. Globally, engineers are continuously researching better, simple, and faster cooperative Control algorithms to provide a Control strategy where each agent in the robot formation can communicate effectively and achieve a consensus in their position, orientation and speed.<span style="font-family:Verdana;"> </span><span style="font-family:Verdana;">This paper explores a novel Formation Building Algorithm and its global stability around a configuration vector. A simulation in MATLAB</span><sup><span style="font-size:12px;font-family:Verdana;"><span lang="ZH-CN" style="font-size:12pt;font-family:宋体;">?</span></span></sup><span style="font-family:Verdana;"> was carried out to examine the performance of the Algorithm for two geometric formations and a fixed number of robots. In addition, an obstacle avoidance technique was presented assuming that all robots are equipped with range sensors. In particular, a uniform rounded obstacle is used to analyze</span><span style="font-family:Verdana;"> </span><span style="font-family:Verdana;">the performance of the technique with the use of detailed geometric calculations.</span>展开更多
基金financially supported by the National "973" Research Project (No. 2006CB605206-1)
文摘Laser cladding experiments were done on a 5-kW continuous wave CO2 laser to synthesize TiC and TiB rein- fowed titanium matrix composite coatings on Ti-6AI-4V alloy with a mixture of Ti and B4C precursor powder. The ther- modynamics of the reactions were calculated and analyzed. The microstructure and phase evolution of TiB and TiC com- posites were investigated. The results showed that the chemical reaction between Ti and B4C would release much heat, and these compounds, TiC, TiB, and small amount of TiB2, can be formed on the surface of Ti-6AI-4V alloy if the supplied en- ergy is sufficient to excite the reaction among the initial products. A good metallurgical bond between the coating and the substrate can be achieved. The microhardness of coating was irregular and the maximum value was approximately HV600.
基金supported by the CAS Knowledge Innovation Key Project (Grant No. KZCX2-YW-330)the National Science Fund Fostering Talents in Basic Research to Glaciology and Geocryology (Grant No. J0630966)the Training Fund of State Key Laboratory of Frozen Soil Engineering of Chinese Academy of Sciences (Grant No. 52YOSF102)
文摘With a new apparatus designed and assembled by ourselves, the matrix potential of non-saturated loess was firstly measured and studied during methane hydrate formation processes. The experimental results showed that during two formation processes, the matrix potential changes of the loess all presented a good linear relationship with water conversion ratios. In addition, although it was well known that the secondary gas hydrate formation was easier than the initial, our experimental results showed that the initial hydrate formation efficiency in non-saturated loess was higher than that of the secondary.
文摘A new set of relative orbit elements (ROEs) is used to derive a new elliptical formation flying model in previous work. In-plane and out-of-plane relative motions can be completely decoupled, which benefits elliptical formation design. In order to study the elliptical control strategy and perturbation effects, it is necessary to derive the inverse transformation of the relative state transition matrix based on relative orbit elements. Poisson bracket theory is used to obtain the linear transformations between the two representations: the relative orbit elements and the geocentric orbital frame. In this paper, the details of these transformations are presented.
基金supported by the National Natural Science Foundation for Distinguished Young Scholars of China (Grant No 60525303)the National Natural Science Foundation of China (Grant No 60704009)Doctor Fund of Yanshan University (Grant NoB203)
文摘This paper researched into some methods for generating min-weighted rigid graphs and min-weighted persistent graphs. Rigidity and persistence are currently used in various studies on coordination and control of autonomous multi-agent formations. To minimize the communication complexity of formations and reduce energy consumption, this paper introduces the rigidity matrix and presents three algorithms for generating rain-weighted rigid and min- weighted persistent graphs. First, the existence of a min-weighted rigid graph is proved by using the rigidity matrix, and algorithm 1 is presented to generate the min-weighted rigid graphs. Second, the algorithm 2 based on the rigidity matrix is presented to direct the edges of min-weighted rigid graphs to generate min-weighted persistent graphs. Third, the formations with range constraints are considered, and algorithm 3 is presented to find whether a framework can form a min-weighted persistent formation. Finally, some simulations are given to show the efficiency of our research.
基金support from the National Key Basic Research Development Program(Grant No.2007CB209600)National Major Science and Technology Program(Grant No.2008ZX05010-002)
文摘A noise-reduction method with sliding called the local f-x Cadzow noise-reduction method, windows in the frequency-space （f-x） domain, is presented in this paper. This method is based on the assumption that the signal in each window is linearly predictable in the spatial direction while the random noise is not. For each Toeplitz matrix constructed by constant frequency slice, a singular value decomposition （SVD） is applied to separate signal from noise. To avoid edge artifacts caused by zero percent overlap between windows and to remove more noise, an appropriate overlap is adopted. Besides flat and dipping events, this method can enhance curved and conflicting events. However, it is not suitable for seismic data that contains big spikes or null traces. It is also compared with the SVD, f-x deconvolution, and Cadzow method without windows. The comparison results show that the local Cadzow method performs well in removing random noise and preserving signal. In addition, a real data example proves that it is a potential noise-reduction technique for seismic data obtained in areas of complex formations.
基金supported by National Natural Science Foundation of China (No. 60934003, No. 61074065)Key Project for Natural Science Research of Hebei Education Department (No. ZD200908)
文摘In this paper, decentralized methods of optimally rigid graphs generation for formation control are researched. The notion of optimally rigid graph is first defined in this paper to describe a special kind of rigid graphs. The optimally rigid graphs can be used to decrease the topology complexity of graphs while maintaining their shapes. To minimize the communication complexity of formations, we study the theory of optimally rigid formation generation. First, four important propositions are presented to demonstrate the feasibility of using a decentralized method to generate optimally rigid graphs. Then, a formation algorithm for multi-agent systems based on these propositions is proposed. At last, some simulation examples are given to show the efficiency of the proposed algorithm.
文摘Technically, a group of more than two wheeled mobile robots working collectively towards a common goal are known as a multi-robot system. An increasing number of industries have implemented multi-robot systems to eliminate the risk of human injuries while working on hazardous tasks, and to improve productivity. Globally, engineers are continuously researching better, simple, and faster cooperative Control algorithms to provide a Control strategy where each agent in the robot formation can communicate effectively and achieve a consensus in their position, orientation and speed.<span style="font-family:Verdana;"> </span><span style="font-family:Verdana;">This paper explores a novel Formation Building Algorithm and its global stability around a configuration vector. A simulation in MATLAB</span><sup><span style="font-size:12px;font-family:Verdana;"><span lang="ZH-CN" style="font-size:12pt;font-family:宋体;">?</span></span></sup><span style="font-family:Verdana;"> was carried out to examine the performance of the Algorithm for two geometric formations and a fixed number of robots. In addition, an obstacle avoidance technique was presented assuming that all robots are equipped with range sensors. In particular, a uniform rounded obstacle is used to analyze</span><span style="font-family:Verdana;"> </span><span style="font-family:Verdana;">the performance of the technique with the use of detailed geometric calculations.</span>
