54 resultados para Confined Space Robot

em Chinese Academy of Sciences Institutional Repositories Grid Portal


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In this paper, the confined crystallization and phase transition behaviors of n-octadecane in microcapsules with a diameter of about 3 Pm were studied with the combination of differential scanning calorimetry (DSC), temperature dependent Fourier transform infrared spectroscopy (FTIR), and X-ray diffraction (XRD).

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Crystallization and phase transition behaviors of n-nonadecane in microcapsules with a diameter of about 5 mu m were studied with the combination of differential scanning calorimetry ( DSC) and synchrotron radiation X-ray diffraction ( XRD). As evident from the DSC measurement, a surface freezing monolayer, which is formed in the microcapsules before the bulk crystallization, induces a novel metastable rotator phase ( RII), which has not been reported anywhere else. We argue that the existence of the surface freezing monolayer decreases the nucleating potential barrier of the RII phase and induces its appearance, while the lower free energy in the confined geometry turns the transient RII phase to a " long- lived" metastable phase.

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Nanometre-sized poly(vinylidene fluoride) (PVDF) particle domains in a confined space were obtained by blending PVDF with excess poly(methyl methacrylate) (PMMA). When these particles were small enough they showed beta -form structure, which was different from the structure of bigger particles or PVDF bulk. However, the beta -form was thermodynamically metastable because it could eventually be transformed to a more stable phase by annealing at a certain temperature. Larger particle domains were of identical phase to the bulk, indicating that small size favours the formation of the beta -form. (C) 2000 Society of Chemical Industry.

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空间机器人和大型柔性空间结构在航天器调姿、变轨、外部扰动的情况下将引起振动问题,其低频大幅值振动将持续很长时间,这将影响航天器系统的稳定性和控制精度。为了快速抑制低频大幅值振动及残余振动,提出采用复合可控反作用力幅值的喷气式驱动和压电陶瓷驱动方案进行振动控制。进行基于复合控制的柔性臂系统动力学建模并给出控制算法。设计并建立柔性机械臂试验平台,构建气动驱动控制回路及压电驱动控制回路。进行基于压电陶瓷驱动器、喷气式驱动器及复合喷气和压电驱动器的柔性臂大幅值低频模态振动控制的几种方法试验比较研究。试验结果表明,采用的控制方案和方法既可以快速地抑制柔性机械臂统的低频大幅值振动,又明显地同时抑制高频和低频小幅值残余振动。

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空间柔性多臂机器人系统是高度非线性,强耦合的动力学系统,其动力学的研究是比较复杂和困难的问题.本文针对极为复杂的空间柔性双臂机器人系统,建立了其系统动力学模型,利用逆动力学控制算法对该动力学模型实现了轨迹跟踪控制,仿真结果表明该方法具有较好的控制效果,分析了在仿真过程中出现的有关数值算法的问题.

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In this paper an isolated magnetic flux tube confined in stratified atmosphere is studied for slender and axisymmetric model. The functions of the pressure, density, and temperature are expanded as a Taylor series of magnetic surface function psi. Several models of an isolated magnetic flux tube confined in a stratified atmosphere are constructed, and the external pressure of the stratified atmosphere decreases reasonably with increasing height. The distribution of thermal dynamic quantities and the magnetic pressure in the flux tube are also obtained.

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poly(epsilon-caprolactone) (PCL) and silica (SiO2) organic-inorganic hybrid materials have been synthesized by sol-gel approach and the crystalline behavior of PCL in the silica networks has been investigated by differential scanning calorimetry (DSC) and wide angle X-ray diffraction (WAXD). The degree of PCL crystallinity in the PCL/SiO2 hybrid networks reduces with the increase of SiO2 content. PCL is in an amorphous state when the concentration of PCL is lower than 40wt% in the hybrid materials. The melting points of PCL in the networks are lower than that of pure PCL,but they almost have a same value. WAXD results show that when the PCL weight percentage is higher than 40wt% in the hybrid samples,part of PCL can crysatllize and the PCL crystallites are almost in a same size. That means the crystalline movement of PCL molecular chains is strictly confined by the porous gel. The crystalline PCL in the hybrid samples is relatively free from the composition of the materials, because the crystallization temperature and melting point of PCL of the samples are almost equal,and the crystalline PCL of different samples has the same crystalline structure and the same crystallite sizes L-110 and L-200, that means the crystalline part of PCL in the hybrid samples is unperturbed and the porous silica gel gives enough space for PCL to crystallize into the same crystalline structure and the same size crystallites.

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本文研究了圆柱受限空间内的喷雾火焰嫩烧压力振荡的特性。为了更清楚地了解火焰的构造, 首先测量了火焰的温度场,在较大的一次风和二次风变化范围内, 测量了压力的振荡特性。结果表明,火焰的稳定是由回流区完成的, 在较小的一次风燃料当量比和中等的二次风量时, 振荡最强, 达到100Pa左右的量级,其频率为200-230Hz左右,分析表明燃烧室中的振荡是轴向驻波振荡。

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1999年,在我国实践5号卫星上完成了两层流体空间实验,实验研究两层不相混合流体的纯Marangoni对流(温度梯度与界面垂直)与热毛细对流(温度梯度方向与流体界面平行).前者存在发生Marangoni对流的最小临界温差值△Tc,低于该值流体系统处于静止状态;后者中只要存在沿界面的温度梯度便会产生热毛细对流.空间实验采用石蜡和氟化液两层流体新体系,实现了平整的液-液交界面,并从卫星上传回上万幅数字图像.通过多幅图像叠加处理得到了定量的流速场.数值模拟计算分析了相应工况时对流流动的速度场,两者的流场结构和速度大小基本一致,实验验证了理论模型.

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The space experimental device for testing the Marangoni drop migrations has been discussed in the present paper. The experiment is one of the spaceship projects of China. In comparison with similar devices, it has the ability of completing all the scientific experiments by both auto controlling and telescience methods. It not only can perform drop migration experiments of large Reynolds numbers but also has an equi-thick interferential system.

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A first experimental study on two-phase how patterns at a long-term, steady microgravity condition was conducted on board the Russian Space Station "MIR" in August 1999. Carbogal and air are used as the liquid and the gas phase, respectively. Bubble, slug, slug-annular transitional, and annular hows are observed. A new region of annular how with lower liquid superficial velocity is discovered, and the region of the slug-annular transitional flow is wider than that observed by experiments on board the parabolic aircraft. The main patterns are bubble, slug-annular transitional and annular flows based on the experiments on board MIR space station. Some influences on the two-phase how patterns in the present experiments are discussed.

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The progress of the research activities on space material sciences, microgravity ‰uid physics and combustion, space life sciences and biotechnology research, fundamental Physics in China are brie‰y summarized in the present paper. The major space missions and experimental results obtained on board the Chinese recoverable/non-recoverable satellites and the Chinese manned spaceship named ``Shen-Zhou'' are presented summarily. The recent main activities of the ground-based studies in China are introduced in brief.

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The optical interference method is a promising technique for measuring temperature, density, and concentration in fluids. The non-intrusive and non-invasive nature of its optical techniques to the measured section are its most outstanding features. However, the adverse experiment environment, especially regarding shaking and vibrating, greatly restricts the application of the interferometer. In the present work, an optical diagnostic system consisting of a Mach-Zehnder interferometer (named after physicists Ludwig Mach) and an image processor has been developed that increases the measuring sensitivity compared to conventional experimental methods in fluid mechanics. An image processor has also been developed for obtaining quantitative results by using Fourier transformation. The present facility has been used in observing and measuring the mass transfer process of a water droplet in EAFP protein solution under microgravity condition provided by the satellite Shi Jian No. 8.

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Cell culture and growth in space is crucial to understand the cellular responses under microgravity. The effects of microgravity were coupled with such environment restrictions as medium perfusion, in which the underlying mechanism has been poorly understood. In the present work, a customer-made counter sheet-flow sandwich cell culture device was developed upon a biomechanical concept from fish gill breathing. The sandwich culture unit consists of two side chambers where the medium flow is counter-directional, a central chamber where the cells are cultured, and two porous polycarbonate membranes between side and central chambers. Flow dynamics analysis revealed the symmetrical velocity profile and uniform low shear rate distribution of flowing medium inside the central culture chamber, which promotes sufficient mass transport and nutrient supply for mammalian cell growth. An on-orbit experiment performed on a recovery satellite was used to validate the availability of the device.

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Results from a space experiment on bubble thermocapillary migration conducted on board the Chinese 22nd recoverable satellite were presented. Considering the temperature field in the cell was disturbed by the accumulated bubbles, the temperature gradient was corrected firstly with the help of the temperature measurement data at six points and numerical simulation. Marangoni number (Ma) of single bubble migrating in the space experiment ranged from 98.04 to 9288, exceeding that in the previous experiment data. The experiment data including the track and the velocity of two bubble thermocapillary migration showed that a smaller bubble would move slower as it was passed by a larger one, and the smaller one would even rest in a short time when the size ratio was large enough.