Design and path planning for a remote-brained service robot

This article introduced an effective design method of robot called remote-brain, which is made the brain and body separated. It leaves the brain in the mother environment, by which we mean the environment in which the brain's software is developed, and talks with its body by wireless links. It also presents a real robot TUT06-B based on this method which has human-machine interaction, vision systems, manipulator etc. Then it discussed the path planning method for the robot based on ant colony algorithm in details, especially the Ant-cycle model. And it also analyzed the parameter of the algorithm which can affect the convergence. Finally, it gives the program flow chat of this algorithm.

基于数字化生产模型的在线故障诊断技术研究

提出了一种基于数字化的生产模型,使用控制图、故障树分析和专家知识,能够进行制造过程实时监控的诊断,该模型提高了故障诊断系统的可靠性,并提供了可实际操作的可视化建模工具。所开发的在线统计过程控制系统能够根据生产事件的监测,动态响应制造过程变化。该系统运用可视化建模工具,根据专家经验进行故障树建模,通过故障树自动生成专家系统诊断规则库,实现诊断知识的自动获取。将该系统应用于汽车变速箱装配过程的检测与故障诊断,验证了方法的有效性。

油气运聚动力学的模拟分析——以准噶尔盆地为例

The petroleum migration, happening in the geologic past, is the very important and complex dynamic processes in the petroleum systems. It plays a linking role among all static factors in a system. The accumulation is in fact the result of the petroleum migration. For the petroleum geology, the dynamics research of the petroleum migration refers to the mechanism and process research, as well as the use of the quantitative methods. In this thesis, combining with the qualitative analysis and quantitative modeling, the author manages to discuss theoretically some key problems dealing with migration processes, which have not been solved yet, and to apply the studied results in petroleum system analysis in actual basins. The basin analysis offers the base of the numerical modeling for geological phenomena occurring in sedimentary basins, that consists of the sedimentary facies analysis, the section reconstructing technique, eroded thickness estimating, etc. The methods to construct the geologic model, which is needed in the research of oil and gas migration and accumulation, are discussed. The basin analysis offers also the possibility for the latter modeling works to get and select the parameters, such as stratum's thickness, age, stratigraphy etc. Modeling works were done by using two basin modeling softwares: Basin_Mod and TPC_Mod. The role of compaction during the secondary migration and the heterogeneity of migrating paths within the clastic carrier are modeled. And the conclusions were applied in the migration studies in the Jungaer Basin, lying on the Northwest part of the China. To construct a reliable migration model, the author studied the characteristics of the sedimentation, the pore fluid pressure evolution, as well as the distribution and the evolution of fluid potential, following the tectonic evolution of the Jungaer Basin. The geochemical prospecting results were used to evidence and to calibrate the migration processes: the oil-source correlation, the distribution of the properties of oil, gas and water. Finally, two important petroleum systems, Permian one and Jurassic one were studied and identified, according, principally, to the studies on the petroleum migration within the Jungaer Basin. Since the oil, as well as the gas, moves mainly in separate phase during the secondary migration, their migrating behaviors would be determined by the dynamics conditions of migration, including the driving forces and pathways. Based on such a consideration, the further understandings may be acquired: the roles played by permeable carriers and low-permeable source rock would be very different in compaction, overpressure generation, petroleum migration, and so on. With the numerical method, the effect of the compaction on the secondary migration was analyzed and the results show that the pressure gradient and the flux resulted from compaction are so small that could be neglected by comparing to the buoyancy of oil. The main secondary migration driving forces are therefore buoyancy and capillary within a hydrostatic system. Modeling with the commercial software-Basin_Mod, the migration pathways of petroleum in clastic carriers seem to be inhomogeneous, controlled by heterogeneity of the driving force, which in turn resulted from the topography of seals, the fabrics and the capillary pressure of the clastic carriers. Furthermore, the direct and indirect methods to study fault-sealing properties in the course of migration were systemically summarized. They may be characterized directly by lithological juxtaposition, clay smear and diagenesis, and indirectly the comparing the pressures and fluid properties in the walls at two apartments of a fault. In Jungaer Basin, the abnormal pressures are found in the formations beneath Badaowan or Baijantan Formation. The occurrence of the overpressure seems controlled by the stratigraphy. The rapid sedimentation, tectonic pressuring, clay sealing, chemical diagensis were considered as the principal pressuring mechanisms. The evolution of fluid pressure is influenced differently at different parts of the basin by the tectonic stresses. So the basin appears different pressure evolution cycles from each part to another during the geological history. By coupling the results of thermal evolution, pressure evolution and organic matter maturation, the area and the period of primary migration were acquired and used to determine the secondary migration time and range. The primary migration in Fengcheng Formation happened from latter Triassic to early Jurassic in the main depressions. The main period of lower-Wuerhe Formation was at latter Jurassic in Changji, Shawan and Pen-1-jing-xi Depression, and at the end of early Cretaceous in Mahu Depression. The primary migration in Badaowan and Sangonghe Formation is at the end of early-Cretaceous in Changji Depression. After then, the fluid potential of oil is calculated at the key time determined from area and time of the primary migration. Generally, fluid potential of oil is high in the depressions and low at the uplifts. Synthetically, it is recognized that the petroleum migration in the Jungaer Basin is very complex, that leads us to classify the evolution of petroleum systems in Northwestern China as a primary stage and a reformed one. The remigration of accumulated petroleum, caused by the reformation of the basin, results in the generation of multiple petroleum systems. The faults and unconformities are usually the linkers among the original petroleum systems. The Permian petroleum system in Jungaer Basin is such a multiple petroleum system. However, the Jurassic petroleum system stays still in its primary stage, thought the strong influences of the new tectonic activities.

Effects of Baffle Design on Fluid Flow and Heat Transfer in Ammonothermal Growth System of Nitrides

Efforts have been made in growing bulk single crystals of GaN front supercritical fluids using the ammonothermal method, which utilizes ammonia as fluid rather than water as in the hydrothermal process. Different mineralizers such as amide or azide and temperatures in the range of 200-600degreesC have been used to increase the solubility. The pressure is from 1 to 4 kbar. Modeling of the ammonothermal growth process has been used to identify factors which may affect the temperature distribution, fluid flow and nutrient transport. The GaN charge is considered as a porous media bed and the flow in the charge is simulated using the Darcy-Brinkman-Forchheimer model. The resulting governing equations are solved using the finite volume method. The effects of baffle design and opening on flow pattern and temperature distribution in an autoclave are analyzed. Two cases are considered with baffle openings of 15% and 20% in cross-sectional area, respectively.

Physical modeling of untrenched submarine pipeline instability

Wave-induced instability of untrenched pipeline on sandy seabed is a `wave-soil-pipeline' coupling dynamic problem. To explore the mechanism of the pipeline instability, the hydrodynamic loading with U-shaped oscillatory flow tunnel is adopted, which is quite different from the previous experiment system. Based on dimensional analysis, the critical conditions for pipeline instability are investigated by altering pipeline submerged weight, diameter, soil parameters, etc. Based on the experimental results, different linear relationships between Froude number (Fr) and non-dimensional pipeline weight (G) are obtained for two constraint conditions. Moreover, the effects of loading history on the pipeline stability are also studied. Unlike previous experiments, sand scouring during the process of pipe's losing stability is detected in the present experiments. In addition, the experiment results are compared with the previous experiments, based on Wake II model for the calculation of wave-induced forces upon pipeline. It shows that the results of two kinds of experiments are comparable, but the present experiments provide better physical insight of the wave-soil-pipeline coupling effects.

Modeling Ammonothermal Growth of GaN Single Crystals: The Role of Transport

Single crystal gallium nitride (GaN) is an important technological material used primarily for the manufacture of blue light lasers. An important area of contemporary research is developing a viable growth technique. The ammonothermal technique is an important candidate among many others with promise of commercially viable growth rates and material quality. The GaN growth rates are a complicated function of dissolution kinetics, transport by thermal convection and crystallization kinetics. A complete modeling effort for the growth would involve modeling each of these phenomena and also the coupling between these. As a first step, the crystallization and dissolution kinetics were idealized and the growth rates as determined purely by transport were investigated. The growth rates thus obtained were termed ‘transport determined growth rates’ and in principle are the maximum growth rates that can be obtained for a given configuration of the system. Using this concept, a parametric study was conducted primarily on the geometric and the thermal boundary conditions of the system to optimize the ‘transport determined growth rate’ and determine conditions when transport might be a bottleneck.

Observation and modeling for terrestrial processes in alpine meadow

The water-heat transfer process between land and atmosphere in Haibei alpine meadow area has been systematically observed. A multi-layer coupling model for land-atmosphere interaction was presented with special attention paid to the moisture transfer in leaf stomata under unsaturated condition. A profound investigation on the physical process of turbulent transfer inside the vegetation has been performed with a revised formula of water absorption for root system. The present model facilitates the study of vertically distributed physical variables in detail. Numerical simulation was conducted according to the transfer process of Kinesia humility meadow in the area of Haibei Alpine Meadow Ecosystem Station, CAS. The calculated results agree well with observation.

Modeling, numerical methods, and simulation for particle-fluid two-phase flow problems

In this paper, we study the issues of modeling, numerical methods, and simulation with comparison to experimental data for the particle-fluid two-phase flow problem involving a solid-liquid mixed medium. The physical situation being considered is a pulsed liquid fluidized bed. The mathematical model is based on the assumption of one-dimensional flows, incompressible in both particle and fluid phases, equal particle diameters, and the wall friction force on both phases being ignored. The model consists of a set of coupled differential equations describing the conservation of mass and momentum in both phases with coupling and interaction between the two phases. We demonstrate conditions under which the system is either mathematically well posed or ill posed. We consider the general model with additional physical viscosities and/or additional virtual mass forces, both of which stabilize the system. Two numerical methods, one of them is first-order accurate and the other fifth-order accurate, are used to solve the models. A change of variable technique effectively handles the changing domain and boundary conditions. The numerical methods are demonstrated to be stable and convergent through careful numerical experiments. Simulation results for realistic pulsed liquid fluidized bed are provided and compared with experimental data. (C) 2004 Elsevier Ltd. All rights reserved.

MODELING EVOLUTION OF INTERNAL WAVES IN SOUTH CHINA SEA

Internal waves are an important factor in the design of drill operations and production in deep water, because the waves have very large amplitude and may induce large horizontal velocity. How the internal waves occur and propagate over benthal terrain is of great concern for ocean engineers. In the present paper, we have formulated a mathematical model of internal wave propagation in a two-layer deep water, which involves the effects of friction, dissipation and shoaling, and is capable of manifesting the variation of the amplitude and the velocity pattern. After calibration by field data measured at the Continental Slope in the Northern South China Sea, we have applied the model to the South China Sea, investigating the westward propagation of internal waves from the Luzon Strait, where internal waves originate due to the interaction of benthal ridge and tides. We find that the internal wave induced velocity profile is obviously characterized by the opposite flow below and above the pycnocline, which results in a strong shear, threatening safety of ocean structures, such as mooring system of oil platform, risers, etc. When internal waves propagate westwards, the amplitude attenuates due to the effects of friction and dissipation. The preliminary results show that the amplitude is likely to become half of its initial value at Luzon Strait when the internal waves propagate about 400 kilometers westwards.

Kinetic modeling of growth and biodegradation of phenol and m-cresol using Alcaligenes faecalis

A phenol-degrading. microorganism, Alcaligenes faecalis, was used to study the substrate interactions during cell growth on phenol and m-cresol dual substrates. Both phenol and m-cresol could be utilized by the bacteria as,the sole carbon and energy sources. When cells grew on the mixture of phenol and m-cresol, strong substrate interactions were observed. m-Cresol inhibited the degradation of phenol, on the other hand, phenol also inhibited the utilization of m-cresol, the overall cell growth rate was the co-action of phenol and m-cresol. In addition, the cell growth and substrate degradation kinetics of phenol, m-cresol as single and mixed substrates for A. faecalis in batch cultures were also investigated over a wide range of initial phenol concentrations (10-1400 mg L-1) and initial m-cresol concentrations (5-200 mg L-1). The single-substrate kinetics was described well using the Haldane-type kinetic models, with model constants of it mu(m1) = 0.15 h(-1), K-S1 = 2.22 mg L-1 and K-i1 = 245.37 mg L-1 for cell growth on phenol and mu(m2) = 0.0782 h(-1), K-S2 = 1.30 mg L-1 and K-i2 = 71.77 mgL(-1), K-i2' = 5480 (mg L-1)(2) for cell growth on m-cresol. Proposed cell growth kinetic model was used to characterize the substrates interactions in the dual substrates system, the obtained parameters representing interactions between phenol and m-cresol were, K = 1.8 x 10(-6), M = 5.5 x 10(-5), Q = 6.7 x 10(-4). The results received in the experiments demonstrated that these models adequately described the dynamic behaviors of phenol and m-cresol as single and mixed substrates by the strain of A. faecalis.

Diffusion-limited kinetics modeling of one-step polyimide formation

A diffusion-limited kinetic model was developed to describe the imidization of one-step polythioetherimide formation based on an endgroup diffusion model. The changes of conversion and viscosity during the imidization were monitored with thermogravimetric analysis and dynamic stress rheometry, respectively. It was observed that the imidization rate began to decelerate after a fast early stage, whereas the viscosity in the system increased dramatically after a period of low value. Amic acid and imide formations concurrently take place in the one-step polyimide formation, but the formation of amic acid is much slower than that of imide and is the rate-limiting step of imidization. When a second-order kinetic model was used to describe the imidization, the effect of viscosity on the diffusion resistance of reactive groups needed to be included. In order to predict the change of viscosity during the imidization, the Lipshitz-Macosko model was modified and introduced into the diffusion-limited kinetic model by the Stokes-Einstein equation. The comparison of the modeled results with experimental data indicated that the diffusion-limited kinetic model and the modified Lipshitz-Macosko model were able to efficiently predict the changes of conversion and viscosity with temperature and time during the one-step polythioetherimide formation. (C) 2001 John Wiley & Sons, Inc.

Cure processing modeling and cure cycle simulation of epoxy-terminated poly(phenylene ether ketone) .3. Determination of the time of pressure application

The curing temperature, pressure, and curing time have significant influence on finished thermosetting composite products. The time of pressure application is one of the most important processing parameters in the manufacture of a thermosetting composite. The determination of the time of pressure application relies on analysis of the viscosity variation of the polymer, associated with curing temperature and curing time. To determine it, the influence of the time of pressure application on the physical properties of epoxy-terminated poly(phenylene ether ketone) (E-PEK)-based continuous carbon fiber composite was studied. It was found that a stepwise temperature cure cycle is more suitable for manufacture of this composite. There are two viscosity valleys, in the case of the E-PEK system, associated with temperature during a stepwise cure cycle. The analysis on the effects of reinforcement fraction and defect content on the composite sheet quality indicates that the width-adjustable second viscosity valley provides a suitable pressing window. The viscosity, ranging from 400 to 1200 Pa . s at the second viscosity valley, is the optimal viscosity range for applying pressure to ensure appropriate resin flow during curing process, which enables one to get a finished composite with optimal fiber volume fraction and low void content. (C) 1997 John Wiley & Sons, Inc.

Cure processing modeling and cure cycle simulation of epoxy-terminated poly(phenylene ether ketone) .4. Cure cycle simulation

Epoxy-terminated poly(phenylene ether ketone) (E-PEK) developed in this Institute is a candidate matrix resin for polymer composites as structural materials. Cure cycles for this reaction system were simulated according to the previously established processing model. It is found that for the E-PEK system, the curing process is best completed by a stepwise cure cycle comprising two isothermal processes at different temperatures, T-1 and T-2. The cure cycles over a wide range of processing parameters simulated, based on the established processing model, indicate that the processing window is width-adjustable. Analysis of the mechanical properties of the composite sheets showed that the simulated cure cycles are acceptable and reliable. (C) 1997 John Wiley & Sons, Inc.