Low-Microwave Loss Coplanar Waveguides Fabricated on High-Resistivity Silicon Substrate

Three kinds of coplanar waveguides （CPWs） are designed and fabricated on different silicon substrates---common low-resistivity silicon substrate （LRS）, LRS with a 3μm-thick silicon oxide interlayer, and high-resistivity silicon （HRS） substrate. The results show that the microwave loss of a CPW on LRS is too high to be used, but it can be greatly reduced by adding a thick interlayer of silicon oxide between the CPW transmission lines and the LRS.A CPW directly on HRS shows a loss lower than 2dB/cm in the range of 0-26GHz and the process is simple,so HRS is a more suitable CPW substrate.

Aging in EPDM used for outdoor insulation

The effect of accelerated weather aging an ethylene-propylene-diene monomer(EPDM) rubber used for outdoor insulation was studied by surface roughness measurement and X-ray photoelectron spectroscopy(xps). The surface roughness of EPDM rubber changed with aging time. The surface oxygen and aluminum content were found to increase and that of carbon, silicon and nitrogen to decrease with time. The detailed XPS analysis indicated that the concentration of carbon in C-C decreased and that of highly oxidized carbons in C-O, C=O and O=C-O increased with time, which was due to the oxidation of EPDM rubber polymer. The appearance of O=C-O on the surface of EPDM rubber was a signal that EPDM rubber became aged. The aging speed decreased with time. The aging mechanism is discussed also.

输电线巡检机器人越障机理与试验

分析超高压输电线路架空地线上的障碍物类型以及跨越这些障碍的过程。可以发现,巡检机器人采用双臂交替跨越障碍,越障过程简单。但是由于受巡检机器人自身重力偏矩的影响和手臂长度尺寸的限制,当单臂悬架在架空地线上时,导致巡检机器人本体倾斜,另一手臂完成脱线和上线任务变得十分困难,有时甚至造成越障失败。为了解决上述问题,提出质量调节的控制方法。该方法通过调节巡检机器人的质心,使巡检机器人的本体保持水平状态。为了验证质量调节控制方法的正确性,采用Lagrange方法建立巡检机器人动力学模型,通过仿真试验、实验室模拟实际架空地线试验以及超高压实际现场试验说明了提出方法的可行性。

超高压输电线路巡检机器人两种越障定位方法比较

将两种基于传感器信息的导线定位方法的特点和差异进行了分析和对比,得出方法Ⅱ的解算能力强于方法Ⅰ的解算能力,但由于方法Ⅱ的定位精度低于方法Ⅰ的定位精度,因此,选用方法Ⅰ进行野外作业。

输电线路巡检机器人越障控制研究

介绍了超高压输电线路巡检机器人越障控制方法。根据巡检作业任务的要求,采用遥控与局部自主控制相结合的方法,实现了巡检机器人沿线行走及跨越障碍的功能。采用基于单目摄像头定位和视觉伺服的方法,实现了巡检机器人的自主越障控制。实验结果表明,该机器人可沿线行走并自主跨越障碍,从而验证了控制系统设计的有效性与合理性。

超高压输电线路巡检机器人越障控制问题的研究

给出了一种超高压输电线路巡检机器人控制系统的设计与实现方法.根据机器人的作业任务,提出了基于传感器信息、约束信息以及动作反馈信息作为输入,产生式系统作为动作输出的越障控制方式.仿真结果表明此方法对于机器人的越障过程是有效的.

输电线路巡检机器人的机构、建模与实验研究

输电线路巡检机器人是一种特种作业机器人，具有广阔的输电线路巡检的应用背景，该项研究是机器人学研究领域的前沿课题之一，而越障机构又是巡检机器人的关键技术之一。本文在863课题《超高压输电线路巡检机器人》的资助下，系统地研究了输电线路巡检机器人的移动越障机构及其理论建模，目的是分析综合越障巡检机构，研制新型的越障巡检机构；通过结构优化减小能耗提高机器人巡检线路的实用性。 本文首先系统研究了巡检作业的典型工况，建立巡检目标障碍空间的数学模型，为巡检机器人的越障巡检机构研究与越障规划奠定基础。 第二、建立特殊工况下的设计原则，研究越障巡检机构的分析与综合方法。1、提出一种基于障碍空间分析的越障巡检机构综合方法，在分析多种越障机构的越障原理与越障性能的基础上，基于螺旋理论进行越障巡检机构的型综合与数综合，优化越障巡检机构的自由度与构型，并且设计两种新型越障巡检机构。2、用影响系数法，建立机器人运动学模型，探讨越障巡检机构的运动综合。3、提出线上操作的打滑稳定裕度与摆动稳定裕度，且给出相应的判据。在建立静力学与动力学模型、探讨越障巡检机构的动力性能、分析操作手夹持姿态的稳定性的基础上，拓展夹持稳定性量度，提出打滑裕度与摆动裕度。 第三、建立特殊风载荷工况下，结构参数受风向和风压影响的数学模型，得到不同风荷载的风压对尺寸参数的影响；由风载荷影响操作手夹持稳定性，从而影响行走轮包角参数，分析得到相应的行走轮外缘包络包角范围。根据风荷载阻力与尺寸参数的关系，基于最小能量理论采用积分有限元分析，对机器人的重要零件与部件进行了结构参数优化。 第四、根据环境模型制定越障流程；分析越障过程的三个难点：机构平衡、导线辨识与定位可知，导线定位是越障的关键；并就如何定位导线的越障关键问题，提出一种解析定位方法，对比搜索定位方法可知，解析定位方法优于搜索定位方法。 第五、通过实验验证越障原理、越障规划、定位方法、及系统性能等。在调试和考机合格的基础上，分别在实验环境下验证了线上行走巡检原理的有效性和连续越障的可行性；在野外现场实验验证了越障巡检机器人系统的原理可靠性与越障定位的有效性。

Mechanics of a grip system of three-key-board hydraulic tongs developed for offshore oil pipe lines

This paper carries out the analysis of mechanics of a grip system of three-key-board hydraulic tongs developed for offshore oil pipe lines which has been successfully used in oil fields in China. The main improvement of this system is that a lever frame structure is used in the structural design, which reduces greatly the stresses of the major components of the oil pipe tongs. Theoretical analysis and numerical calculation based on thirteen basic equations developed Show that the teeth board of the tongs is not easy to slip as frequently happens to other systems and is of higher reliability.

Transmission Electron Microscopy Characterization of Laser Welding Cast Ni-Based Superalloy K418 Turbo Disk And Alloy Steel 42Crmo Shaft

Microstructure characterization is important for controlling the quality of laser welding. In the present work, a detailed microstructure characterization by transmission electron microscopy was carried out on the laser welding cast Ni-based superalloy K418 turbo disk and alloy steel 42CrMo shaft and an unambiguous identification of phases in the weldment was accomplished. It was found that there are gamma-FeCrNiC austenite solid solution dendrites as the matrix, (Nb, Ti) C type MC carbides, fine and dispersed Ni-3 Al gamma' phase as well as Laves particles in the interdendritic region of the seam zone. A brief discussion was given for their existence based on both kinetic and thermodynamic principles. (c) 2007 Elsevier B.V. All rights reserved.

Size-Dependent Interface Phonon Transmission And Thermal Conductivity Of Nanolaminates

An analytical model for size-dependent interface phonon transmission and thermal conductivity of nanolaminates is derived based on the improved acoustic mismatch theory and the Lindemann melting theory by considering the size effect of phonon velocity and the interface lattice mismatch effect. The model suggests that the interface phonon transmission is dominant for the cross-plane thermal conductivity of nanolaminates and superlattices, and the intrinsic variety of size effect of thermal conductivity for different systems is proposed based on the competition mechanism of size effect of phonon transport between two materials constituting the interfaces. The model's prediction for thermal conductivity of nanolaminates agrees with the experimental results. (C) 2008 American Institute of Physics.

Control dynamics of severe acute respiratory syndrome transmission

Severe acute respiratory syndrome (SARS) is a serious disease with many puzzling features. We present a simple, dynamic model to assess the epidemic potential of SARS and the effectiveness of control measures. With this model, we analysed the SARS epidemic data in Beijing. The data fitting gives the basic case reproduction number of 2.16 leading to the outbreak, and the variation of the effective reproduction number reflecting the control effect. Noticeably, our study shows that the response time and the strength of control measures have significant effects on the scale of the outbreak and the lasting time of the epidemic.

Computation of stress intensity factors by the sub-region mixed finite element method of lines

Based on the sub-region generalized variational principle, a sub-region mixed version of the newly-developed semi-analytical 'finite element method of lines' (FEMOL) is proposed in this paper for accurate and efficient computation of stress intensity factors (SIFs) of two-dimensional notches/cracks. The circular regions surrounding notch/crack tips are taken as the complementary energy region in which a number of leading terms of singular solutions for stresses are used, with the sought SIFs being among the unknown coefficients. The rest of the arbitrary domain is taken as the potential energy region in which FEMOL is applied to obtain approximate displacements. A mixed system of ordinary differential equations (ODEs) and algebraic equations is derived via the sub-region generalized variational principle. A singularity removal technique that eliminates the stress parameters from the mixed equation system eventually yields a standard FEMOL ODE system, the solution of which is no longer singular and is simply and efficiently obtained using a standard general-purpose ODE solver. A number of numerical examples, including bi-material notches/cracks in anti-plane and plane elasticity, are given to show the generally excellent performance of the proposed method.

The plane problem of collinear rigid lines under arbitrary loads

The elastic plane problem of collinear rigid lines under arbitrary loads is dealt with. Applying the Riemann-Schwarz symmetry principle integrated with the analysis of the singularity of complex stress functions, the general formulation is presented, and the closed-form solutions to several problems of practical importance are given, which include some published results as the special cases. Lastly the stress distribution in the immediate vicinity of the rigid line end is examined.

Transmission spectrum of a double quantum-dot-nanocavity system in photonic crystals

We investigate the optical transmission properties of a combined system which consists of two quantum-dot-nanocavity subsystems indirectly coupled to a waveguide in a planar photonic crystal. A Mollow-like triplet and the growth of sidebands are found, reflecting intrinsic optical responses in the complex microstructure.

Self-induced transmission on intersubband resonance in multiple quantum wells

We investigate the nonlinear propagation of ultrashort pulses on resonant intersubband transitions in multiple semiconductor quantum wells. It is shown that the nonlinearity rooted from electron-electron interactions destroys the condition giving rise to self-induced transparency. However, by adjusting the area of input pulse, we find the signatures of self-induced transmission due to a full Rabi flopping of the electron density, and this phenomenon can be approximately interpreted by the traditional standard area theorem via defining the effective area of input pulse.