可重构星球探测机器人的机构设计

基于可重构思想设计了一种可重构星球探测机器人系统。系统由一个母体和几个子机器人组成,其中子机 器人包括车轮和手臂两部分,可以作为独立作业的机器人,具有移动状态和工作状态两种模式。子机器人具有在 一个驱动力作用下处于不同约束环境中时,表现为不同形式输出的特点,容易实现两种模式下的灵活运动。并深 入研究了机构参数对子机器人运动的影响,用试验和仿真进行了验证,这为机器人的参数化设计及运动中的参数 化调整提供了重要的理论依据。

Ultrahigh compression of water using intense heavy ion beams: laboratory planetary physics

Intense heavy ion beams offer a unique tool for generating samples of high energy density matter with extreme conditions of density and pressure that are believed to exist in the interiors of giant planets. An international accelerator facility named FAIR (Facility for Antiprotons and Ion Research) is being constructed at Darmstadt, which will be completed around the year 2015. It is expected that this accelerator facility will deliver a bunched uranium beam with an intensity of 5x10(11) ions per spill with a bunch length of 50-100 ns. An experiment named LAPLAS (Laboratory Planetary Sciences) has been proposed to achieve a low-entropy compression of a sample material like hydrogen or water (which are believed to be abundant in giant planets) that is imploded in a multi-layered target by the ion beam. Detailed numerical simulations have shown that using parameters of the heavy ion beam that will be available at FAIR, one can generate physical conditions that have been predicted to exist in the interior of giant planets. In the present paper, we report simulations of compression of water that show that one can generate a plasma phase as well as a superionic phase of water in the LAPLAS experiments.

Rossby Vortex Simulation on a Paraboloidal Coordinate System Using the Lattice Boltzmann Method

In this paper, we apply our compressible lattice Boltzmann model to a rotating parabolic coordinate system to simulate Rossby vortices emerging in a layer of shallow water flowing zonally in a rotating paraboloidal vessel. By introducing a scaling factor, nonuniform curvilinear mesh can be mapped to a flat uniform mesh and then normal lattice Boltzmann method works. Since the mass per unit area on the two-dimensional (2D) surface varies with the thickness of the water layer, the 2D flow seems to be "compressible" and our compressible model is applied. Simulation solutions meet with the experimental observations qualitatively. Based on this research, quantitative solutions and many natural phenomena simulations in planetary atmospheres, oceans, and magnetized plasma, such as the famous Jovian Giant Red Spot, the Galactic Spiral-vortex, the Gulf Stream, and the Kuroshio Current, etc,, can be expected.

The influence of microcrack density on the elastic and fracture mechanical properties of stripa granite

Microcracks can have a strong influence on the elastic and fracture mechanical properties of rocks if they are numerous, or if they are orientated in unfavourable directions in anisotropic rocks in particular. This paper presents results from a great number of mechanical tests on Stripa granite containing various amounts of microcracks. Variations in the microcrack density were obtained by shock-heating the rock at different temperatures in the range 100–600°C for 3 h.

An asymptotic solution of hydrodynamic equations at the mid-plane of a plume in the earths mantle

From the partial differential equations of hydrodynamics governing the movements in the Earth's mantle of a Newtonian fluid with a pressure- and temperature-dependent viscosity, considering the bilateral symmetry of velocity and temperature distributions at the mid-plane of the plume, an analytical solution of the governing equations near the mid-plane of the plume was found by the method of asymptotic analysis. The vertical distribution of the upward velocity, viscosity and temperature at the mid-plane, and the temperature excess at the centre of the plume above the ambient mantle temperature were then calculated for two sets of Newtonian rheological parameters. The results obtained show that the temperature at the mid-plane and the temperature excess are nearly independent of the rheological parameters. The upward velocity at the mid-plane, however, is strongly dependent on the rheological parameters.

The thermal and mechanical structure of a two-dimensional plume in the earths mantle

On the condition that the distribution of velocity and temperature at the mid-plane of a mantle plume has been obtained (pages 213–218, this issue), the problem of determining the lateral structure of the plume at a given depth is reduced to solving an eigenvalue problem of a set of ordinary differential equations with five unknown functions, with an eigenvalue being related to the thermal thickness of the plume at this depth. The lateral profiles of upward velocity, temperature and viscosity in the plume and the thickness of the plume at various depths are calculated for two sets of Newtonian rheological parameters. The calculations show that the precondition for the existence of the plume, δT/L 1 (L = the height of the plume, δT = lateral distance from the mid-plane), can be satisfied, except for the starting region of the plume or near the base of the lithosphere. At the lateral distance, δT, the upward velocity decreases to 0.1 – 50% of its maximum value at different depths. It is believed that this model may provide an approach for a quantitative description of the detailed structure of a mantle plume.

磨料流在离心研磨过程中运动特征的数值模拟

用液固两相流体动力学的方法对离心研磨过程中磨料流的运动特征进行数值模拟，得出磨料流运动的动态结果，并与高速摄影实验结果进行对比，指出计算机数值模拟结果对研磨机的设计和研磨工艺参数的选择具有实际的指导意义。该方法经济简捷，可以代替大量的工艺实验实现对离心研磨技术参数的优化，从而提高生产效率。

平面行星夹具的物理气相沉积均匀性计算

建立了平面行星夹具薄膜淀积无量纲模型。通过对蒸发源位置LIH、行星主轴与副轴距离PIH、夹角倾角A以及蒸发源蒸汽发射特性N等因素的分析，得到了典型径向理论均匀的优化几何配置．并从优化几何配置的膜料效率、角向均匀性和膜厚分布对蒸发源蒸汽发射特性变化的敏感性方面评价优化结果，得到了最优化设计区域．结果表明，优化配置的LIH＋PIH小，则角分布差异小；LIH＋PIH和A小，则膜料效率高；L〈P，A=15°时，优化配置对N变化最不敏感；L〉P时，由N变化引起的典型径向分布变化小于0．5％．

平面行星夹具均匀性修正挡板设计方法研究

众多光学系统对其关键环节大尺寸多层光学薄膜提出了越来越复杂的光谱要求，相应地对各个单层膜的厚度容差要求越来越严格。在整个基底表面，每一层都需要沉积得相当均匀。因为，任何单层的非均匀性将增加最终的膜厚误差。随着平面行星夹具广泛地应用于大尺寸光学薄膜制备，必须实现对行星夹具的均匀性有效控制。本文建立了平面行星夹具薄膜沉积无量纲模型，通过对夹具上各点的运动轨迹分析，提出了停留概率修正法，获得的理论均匀性与实验结果吻合。用此法设计出单片修正挡板将夹具Ф560mm范围内的不均匀性从4％改进到6‰。

Structural evolution of mechanically alloyed nanocrystalline FeAl intermetallics

Nanostructured FeAl intermetallics were prepared directly by mechanical alloying (MA) in a high-energy planetary ball-mill. The phase transformations and structural changes occurring in the studied material during mechanical alloying were investigated by X-ray diffraction (XRD). Transmission electron microscopy (TEM) was employed to examine the morphology of the powders. Thermal behavior of the milled powders was examined by differential scanning calorimetry (DSC). Disordered Fe(Al) solid solution was formed at the early stage. After 30 h of milling, Fe(Al) solid solution transformed into an ordered FeAl phase. The average crystallite size reduction down to about 12 nm was accompanied by the introduction of the average lattice strain up to 1.7%. The TEM picture showed that the size of milled powders was less than 30 nm. (c) 2007 Elsevier B.V. All rights reserved.

Geomagnetic paleointensity dating of South China Sea sediments for the last 130 kyr

Relative paleointensity records from the northern South China Sea, northwest Pacific Ocean were studied in two gravity piston cores. Continuous mineral magnetic and paleomagnetic measurements were made using discrete sediment samples. Detailed rock magnetic parameters, such as thermomagnetic and high-field hysteresis data, indicate that pseudo-single domain magnetite in a narrow range of grain-size and concentration is the main contributor to the remanent magnetization. The uniform magnetic mineralogy meets the commonly accepted criteria for establishing relative paleointensity records. The relative paleointensity (RPI) curves were constructed by normalizing the natural remanent magnetization (NRM) with isothermal remanent magnetization (IRM), both in the 20-60 mT demagnetization state. Dating constraints have been provided by radiocarbon ages in the upper 400 cm of both cores. Furthermore, we have correlated our paleointensity records with NAPIS-75, S.Atlantic-1089, Sint-200 and NOPAPIS-250 to determine the chronological RPI framework for the South China Sea (SCS-PIS). Although some temporal offsets of paleointensity features between the different records have been recognized, their similar shape suggests that relative paleointensity on the 10(3)-10(4) year scale is globally coherent and can provide an age framework for sediments independent of delta O-18 ages.