Based on the three-cathode plasma spraying system,tantalum(Ta)coatings were pre-pared on the substrate of CuCrZr alloy.The effects of different auxiliary gas(helium)flow rates on the microstructure,phase composition,m...Based on the three-cathode plasma spraying system,tantalum(Ta)coatings were pre-pared on the substrate of CuCrZr alloy.The effects of different auxiliary gas(helium)flow rates on the microstructure,phase composition,mechanical and wear resistance properties of Ta coatings were studied.The results showed that the oxidation degree of the coatings decreases first and then increases with the increase of the auxiliary gas flow.When the auxiliary gas flow rate is 70 L·min-1,the oxidation degree of the coating is the lowest,minimum value of the porosity is 0.21%,and the bonding strength reaches the maximum,59.3 MPa.At this time,the coating wear rate is 0.0012 mm^(3)·N^(-1)·m^(-1)with the best wear resistance.This indicates that the auxiliary gas flow has an important influence on the quality and surface mechanical properties of tantalum coating.展开更多
A bio-inspired suction cup actuated by shape memory alloy(SMA)for miniature wall climbing robots is developed based on studying characteristics of biological suction apparatus.Some fast control strategies are introduc...A bio-inspired suction cup actuated by shape memory alloy(SMA)for miniature wall climbing robots is developed based on studying characteristics of biological suction apparatus.Some fast control strategies are introduced to improve negative pressure response.Theoretic model of the suction cup is built,and simulation and experiments results indicate the effectiveness of the fast control strategies.The largest negative pressure of the suction cup can reach 14 000 Pa,and its generating and cancelling just need 5 s.Research results indicate the suction cup can be used as an adhesion mechanism for miniature wall climbing robots.展开更多
Considering defects of current single celestial-body positioning methods such as discon- tinuity and long period, a new sun positioning algorithm is herein put forward. Instead of tradi- tional astronomical spherical ...Considering defects of current single celestial-body positioning methods such as discon- tinuity and long period, a new sun positioning algorithm is herein put forward. Instead of tradi- tional astronomical spherical trigonometry and celestial coordinate system, the proposed new positioning algorithm is built by theory of mechanisms. Based on previously derived solar vector equations （from a C1R2p2 series mechanism）, a further global positioning method is developed by inverse kinematics. The longitude and latitude coordinates expressed by Greenwich mean time （GMT） and solar vector in local coordinate system are formulated. Meanwhile, elimination method of multiple solutions, errors of longitude and latitude calculation are given. In addition, this algo- rithm has been integrated successfully into a mobile phone application to visualize sun positioning process. Results of theoretical verification and smart phone＇s test demonstrate the validity of pre- sented coordinate＇s expressions. Precision is shown as equivalent to current works and is acceptable to civil aviation requirement. This new method solves long-period problem in sun sight running fix- ing and improves applicability of sun positioning. Its methodology can inspire development of new sun positioning device. It would be more applicable to be combined with inertial navigation systems for overcoming discontinuity of celestial navigation systems and accumulative errors of inertial nav- igation systems.展开更多
基金supported by the National Natural Science Foundation of China(Nos.52076212,U1933107)the Training Fund For Blue Sky Young Scholars of Civil Aviation University of ChinaNatural Science Foundation of Ningbo(No.2019A610173).
文摘Based on the three-cathode plasma spraying system,tantalum(Ta)coatings were pre-pared on the substrate of CuCrZr alloy.The effects of different auxiliary gas(helium)flow rates on the microstructure,phase composition,mechanical and wear resistance properties of Ta coatings were studied.The results showed that the oxidation degree of the coatings decreases first and then increases with the increase of the auxiliary gas flow.When the auxiliary gas flow rate is 70 L·min-1,the oxidation degree of the coating is the lowest,minimum value of the porosity is 0.21%,and the bonding strength reaches the maximum,59.3 MPa.At this time,the coating wear rate is 0.0012 mm^(3)·N^(-1)·m^(-1)with the best wear resistance.This indicates that the auxiliary gas flow has an important influence on the quality and surface mechanical properties of tantalum coating.
基金National Science and Technology Foundations of China(No.61075086,No.60875058)the Hi-Tech Research and Development Programof China(863 Program)(No.2009AA04Z221)
文摘A bio-inspired suction cup actuated by shape memory alloy(SMA)for miniature wall climbing robots is developed based on studying characteristics of biological suction apparatus.Some fast control strategies are introduced to improve negative pressure response.Theoretic model of the suction cup is built,and simulation and experiments results indicate the effectiveness of the fast control strategies.The largest negative pressure of the suction cup can reach 14 000 Pa,and its generating and cancelling just need 5 s.Research results indicate the suction cup can be used as an adhesion mechanism for miniature wall climbing robots.
基金co-supported by the National Natural Science Foundation of China,Civil Aviation Administration of China(Nos.U1233106,U1533103,11502284)the Fundamental Research Funds for the Central Universities(No.ZXH2012H007)Tianjin Natural Science Foundation(No.15JCQNJC42600)
文摘Considering defects of current single celestial-body positioning methods such as discon- tinuity and long period, a new sun positioning algorithm is herein put forward. Instead of tradi- tional astronomical spherical trigonometry and celestial coordinate system, the proposed new positioning algorithm is built by theory of mechanisms. Based on previously derived solar vector equations （from a C1R2p2 series mechanism）, a further global positioning method is developed by inverse kinematics. The longitude and latitude coordinates expressed by Greenwich mean time （GMT） and solar vector in local coordinate system are formulated. Meanwhile, elimination method of multiple solutions, errors of longitude and latitude calculation are given. In addition, this algo- rithm has been integrated successfully into a mobile phone application to visualize sun positioning process. Results of theoretical verification and smart phone＇s test demonstrate the validity of pre- sented coordinate＇s expressions. Precision is shown as equivalent to current works and is acceptable to civil aviation requirement. This new method solves long-period problem in sun sight running fix- ing and improves applicability of sun positioning. Its methodology can inspire development of new sun positioning device. It would be more applicable to be combined with inertial navigation systems for overcoming discontinuity of celestial navigation systems and accumulative errors of inertial nav- igation systems.
