Coupling between elytra of some beetles: Mechanism, forces and effect of surface texture

Lightweight materials, structures and coupling mechanisms are very important for realizing advanced flight vehicles. Here, we obtained the geometric structures and morphologies of the elytra of beetles and ascertained its coupling zone by using the histological section technique and SEM. We set up a three-dimensional motion observing system to monitor the opening and closing behaviour of elytra in beetles and to determine the motion mechanism. We constructed a force measuring system to measure the coupling forces between elytra. The results show that elytra open and close by rotating about a single axle, where the coupling forces may be as high as 160 times its own bodyweight, the elytra coupling with the tenon and mortise mechanism, surface texture and opening angle between elytra heavily influence the coupling forces. These results may provide insights into the design mechanism and structure for future vehicles of flight.

Effects of annealing time and Si cap layer thickness on the Si/SiGe/Si heterostructures thermal stability

The effects of annealing time and Si cap layer thickness: on the thermal stability of the Si/SiGe/Si heterostructures deposited by disilane and solid-Ge molecule beam epitaxy were investigated. It is found that in the same strain state of the SiGe layers the annealing time decreases with increasing Si cap layer thickness. This effect is analyzed by a force-balance theory and an equation has been obtained to characterize the relation between the annealing time and the Si cap layer thickness. (C) 2001 Elsevier Science B.V. All rights reserved.

Effect of Silicon-on-Insulator Substrate on Residual Strain in 3C-SiC Films

One group of SiC films are grown on silicon-on-insulator （SOI） substrates with a series of silicon-overlayer thickness. Raman scattering spectroscopy measurement clearly indicates that a systematic trend of residual stress reduction as the silicon over-layer thickness decreases for the SOI substrates. Strain relaxation in the SiC epilayer is explained by force balance approach and near coincidence lattice model.

Effects of annealing time and Si cap layer thickness on the Si/SiGe/Si heterostructures thermal stability

The effects of annealing time and Si cap layer thickness: on the thermal stability of the Si/SiGe/Si heterostructures deposited by disilane and solid-Ge molecule beam epitaxy were investigated. It is found that in the same strain state of the SiGe layers the annealing time decreases with increasing Si cap layer thickness. This effect is analyzed by a force-balance theory and an equation has been obtained to characterize the relation between the annealing time and the Si cap layer thickness. (C) 2001 Elsevier Science B.V. All rights reserved.

基于小波变换的机器人腕力传感器滤波算法

在对机器人腕力传感器信号特点分析基础上,提出了应用小波变换对腕力传感器信号进行滤波的方法,讨论了小波滤波算法,研究了机器人腕力传感器信号滤波方案,并针对抛光机器人作业实验数据进行滤波。仿真实验表明方法有效。

基于Internet的力反馈技术研究

论述了基于Internet的力反馈技术及其相关技术的发展和研究意义 ,综合机器人遥操作控制领域的理论方法 ,结合多媒体技术的最新发展 ,构建了一种基于事件的系统结构及其设计方法 .基于该方法 ,分析了系统的可靠性、稳定性及力媒体传输的透明性 ,并设计了一个基于Internet的力反馈技术的系统实例

基于实时障碍物预测的机器人运动规划

本文给出了移动机器人的虚力导航和运动规划系统．这种方法结合最小方差估计算法（ＬＭ ＳＥ）能有效地对机器人进行实时导航和避撞．在预测过程中，根据导航的不同阶段和预测误差的变化情况，采用Ｆｕｚｚｙ 规则动态地调整误差函数中的权重，使预测过程尽可能准确．导航算法的基本思想是首先通过预测算法来获得移动机器人的运动信息，然后虚力系统根据预测信息决定机器人的未来运动，仿真结果表明该方法实时性好，能准确躲避障碍物并且到达目标点

空间对接缓冲试验台对接环重力平衡技术

在空间对接机构地面缓冲实验平台上,为了模拟空间失重状态,研制了一种高精度、高响应速度的主动对接环重力平衡装置。介绍了对接环重力平衡装置的机构原理。对对接过程随动装置的随动性对系统的干扰进行了详细分析。进行了重力平衡器相关实验,从实验数据和理论分析可以得出:所设计的重力平衡装置完全满足对摩擦阻力和惯性阻力设计指标的要求,重力平衡达到1.1%的精度。

油气输导体系研究及应用─以准噶尔盆地东部白家海凸起侏罗系为例

Baijiahai uplift is an important hydrocarbon accumulation belt in eastern Jungger Basin, on which Cainan oilfield and lithologic hydrocarbon reservoir named Cai 43 have been discovered and both of them share the same target formation of Jurassic. However, in the subsequent exploration at this region, several wells that designed for lithologic traps of Jurassic were eventually failed, and that indicates the controlling factors of lithologic reservoir distribution are far more complicated than our previous expectation. This dissertation set the strata of the Jurassic in well Cai 43 region as the target, and based on the integrated analysis of structure evolution、fault sealing ability、simulations of sedimentary microfacies and reservoir beds、distribution analysis of high porosity-high permeability carrier beds、drive forces of hydrocarbons、preferential conduit system and conduit model as well as critical values of the reservoir physical properties for hydrocarbon charging, a special method that different from the conventional way to predict favorable lithologic traps was established. And with this method the controlling factors of the hydrocarbon reservoirs formation are figured out, and further more, the favorable exploration targets are point out. At Baijiahai uplift, fault plays as a crucial factor in the process of the hydrocarbon reservoir formation. In this study, it is found out that the availability of a fault that work as the seal for oil and gas are different. The critical value of the lateral mudstone smear factor (Kssf), which is used to measure the lateral sealing ability of fault, for oil is 3.9 while that for gas is 2.1; and the critical value of vertical sealing factor (F), which similarly a measurement for the vertical sealing ability of fault, for oil is 7.3 while that for gas is 5.1. Dongdaohaizi fault belt that possessed well lateral sealing ability since later Cretaceous have bad vertical sealing ability in later Cretaceous, however, it turns to be well now. Based on the comparison of the physical properties that respectively obtained from electronic log calculating、conventional laboratory rock analysis and the additive-pressure bearing laboratory rock analysis, we established the functions through which the porosity and permeability obtained though conventional method can be converted to the values of the subsurface conditions. With this method, the porosity and permeability of the Jurassic strata at the time of previous Tertiary and that in nowadays are reconstructed respectively, and then the characteristics of the distribution of high porosity-high permeability carrier beds in the evolution processes are determined. With the result of these works, it is found that both well Cai 43 region and Cainan oilfield are located on the preferential conduit direction of hydrocarbon migration. This conclusion is consistent with the result of the fluid potential analysis, in which fluid potential of nowadays and that of later Cretaceous are considered. At the same times, experiment of hydrocarbon injection into the addictive-pressure bearing rock is designed and conducted, from which it is found that, for mid-permeability cores of Jurassic, 0.03MPa is the threshold values for the hydrocarbon charging. And here, the conception of lateral pressure gradient is proposed to describe the lateral driving force for hydrocarbon migration. With this conception, it is found that hydrocarbons largely distributed in the areas where lateral pressure gradient is greater than 0. 03MPa/100m. Analysis of critical physical properties indicated that the value of the critical porosity and critical permeability varied with burial depth, and it is the throat radius of a certain reservoir bed that works as a key factor in controlling hydrocarbon content. Three parameters are proposed to describe the critical physical properties in this dissertation, which composite of effective oil-bearing porosity、effective oil-bearing permeability and preferential flow coefficient. And found that critical physical properties, at least to some extent, control the hydrocarbon distribution of Jurassic in Baijiahai uplift. Synthesize the content discussed above, this dissertation analyzed the key factors i.e., critical physical properties、driving force、conduit system and fluid potential, which controlled the formation of the lithologic reservoir in Baijiahai uplift. In all of which conduit system and fluid potential determined the direction of hydrocarbon migration, and substantially they are critical physical properties of reservoir bed and the lateral pressure gradient that controlled the eventually hydrocarbon distribution. At the same times, sand bodies in the major target formation that are recognized by reservoir bed simulation are appraised, then predict favorite direction of the next step exploration of lithologic reservoir.

Effect of a laser pre-quenched steel substrate surface on the crack driving force in a coating-steel substrate system

A mechanical model of a coating/laser pre-quenched steel substrate specimen with a crack oriented perpendicular to the interface between the coating and the hardened layer is developed to quantify the effects of the residual stress and hardness gradient on the crack driving force in terms of the J-integral. It is assumed that the crack tip is in the middle of the hardened layer of the pre-quenched steel substrate. Using a composite double cantilever beam model, analytical solutions can be derived, and these can be used to quantify the effects of the residual stress and the hardness gradient resulting from the pre-quenched steel substrate surface on the crack driving force. A numerical example is presented to investigate how the residual compressive stress, the coefficient linking microhardness and yield strength and the Young's modulus ratio of the hardened layer to the coating influence the crack driving force for a given crack length. (C) 2007 Acta Materialia Inc. Published by Elsevier Ltd. All rights reserved.

Gradient force pattern, focal shift, and focal switch in an apodized optical system

In this paper, the evolution of the gradient force pattern, focal shift, and focal switch induced by a three-portion pure phase-shifting apodizer is numerically investigated in detail. The results show that the proposed apodizer may induce tunable gradient force on the particles in the focal region, focal shift, and focal switch. By adjusting the geometrical parameters of the phase-shifting apodizer, multiple traps may occur with changeable distance between them, and the shape of the optical trap also evolves evidently. More interestingly, for certain geometrical parameters of the proposed apodizer, by changing the phase shift of inner annular portion, the considerable focal shift may occur with focal switch accompanying, which is discussed to show that this kind of apodizer may be a very promising method of transporting trapped particles. © 2005 Elsevier GmbH. All rights reserved.

General Solution to Two-Dimensional Nonslipping JKR Model with a Pulling Force in an Arbitrary Direction

In this paper, a generalized JKR model is investigated, in which an elastic cylinder adhesively contacts with an elastic half space and the contact region is assumed to be perfect bonding. An external pulling force is acted on the cylinder in an arbitrary direction. The contact area changes during the pull-off process, which can be predicted using the dynamic Griffith energy balance criterion as the contact edge shifts. Full coupled solution with an oscillatory singularity is obtained and analyzed by numerical calculations. The effect of Dundurs' parameter on the pull-off process is analyzed, which shows that a nonoscillatory solution can approximate the general one under some conditions, i.e., larger pulling angle (pi/2 is the maximum value), smaller a/R or larger nondimensional parameter value of Delta gamma/E*R. Relations among the contact half width, the external pulling force and the pulling angle are used to determine the pull-off force and pull-off contact half width explicitly. All the results in the present paper as basic solutions are helpful and applicable for experimenters and engineers.

Vibration of an Adhered Microbeam Under a Periodically Shaking Electrical Force

The vibration analysis of an adhered S-shaped microbeam under alternating sinusoidal voltage is presented. The shaking force is the electrical force due to the sinusoidal voltage. During vibration, both the microbeam deflection and the adhesion length keep changing. The microbeam deflection and adhesion length are numerically determined by the iteration method. As the adhesion length keeps changing, the domain of the equation of motion for the microbeam (unadhered part) changes correspondingly, which results in changes of the structure natural frequencies. For this reason, the system can never reach a steady state. The transient behaviors of the microbeam under different shaking frequencies are compared. We deliberately choose the initial conditions to compare our dynamic results with the existing static theory. The paper also analyzes the changing behavior of adhesion length during vibration and an asymmetric pattern of adhesion length change is revealed, which may be used to guide the dynamic de-adhering process. The abnormal behavior of the adhered microbeam vibrating at almost the same frequency under two quite different shaking frequencies is also shown. The Galerkin method is used to discretize the equation of motion and its convergence study is also presented. The model is only applicable in the case that the peel number is equal to 1. Some other model limitations are also discussed.

An Approximate Method For Calculation Of Fluid Force And Response Of A Circular Cylinder At Lock-In

In this paper, equations calculating lift force of a rigid circular cyclinder at lock-in uniform flow are deduced in detail. Besides, equations calculating the lift force on a long flexible circular cyclinder at lock-in are deduced based on mode analysis of a multi-degree freedom system. The simplified forms of these equations are also given. Furthermore, an approximate method to predict the forces and response of rigid circular cyclinders and long flexible circular cyclinders at lock-in is introduced in the case of low mass-damping ratio. A method to eliminate one deficiency of these equations is introduced. Comparison with experimental results show the effectiveness of this approximate method.

Determination Ofinterfacial Mechanical Parameters For An Al/Epoxy/Al2O3 System Byusing Peel Test Simulations

Peel test measurements and simulations of the interfacial mechanical parameters for the Al/Epoxy/Al2O3 system are performed in the present investigation. A series of Al film thicknesses between 20 and 250 microns and three peel angles of 90, 135 and 180 degrees are considered. Two types of epoxy adhesives are adopted to obtain both strong and weak interface adhesions. A finite element model with cohesive zone elements is used to identify the interfacial parameters and simulate the peel test process. By simulating and recording normal stress near the crack tip, the separation strength is obtained. Furthermore, the cohesive energy is identified by comparing the simulated steady-state peel force and the experimental result. It is found from the research that both the cohesive energy and the separation strength can be taken as the intrinsic interfacial parameters which are dependent on the thickness of the adhesive layer and independent of the film thickness and peel angle.