The crystal structure and drawing-induced polymorphism in poly(aryl ether ketone)s .1. Poly(oxybiphenyl-4-4'-diyloxy-1,4-phenylenecarbonyl-1,3-phenylenecarbonyl-1,4-phenylene)

Crystal structure and polymorphism induced by uniaxial drawing of a poly(aryl ether ketone) [PEDEKmK] prepared from 1,3-bis(4-fluorobenzoyl)benzene and biphenyl-4,4'-diol have been investigated by means of transmission electron microscopy (TEM), electron diffraction (ED), wide-angle X-ray diffraction (WAXD), and differential scanning calorimetry (DSC) techniques. The melting and recrystallization process in the temperature range of 250-260 degrees C, far below the next melting temperature (306 degrees C), was identified and found to be responsible for the remarkable changes in lamellar morphology. Based on WAXD and ED patterns, it was found that crystal structure of isotropic-crystalline PEDEKmK obtained under different crystallization conditions (melt-crystallization, cold-crystallization, solvent-induced crystallization, melting-recrystallization, and crystallization from solution) keeps the same mode of packing, i.e., a two-chain orthorhombic unit cell with the dimensions a = 0.784 nm, b = 0.600 nm, and c = 4.745 nm (form I). A second crystal modification (form II) can be induced by uniaxial drawing above the glass transition temperature, and always coexists with form I. This form also possesses an orthorhombic unit cell but with different dimensions, i.e., a = 0.470 nm, b = 1.054 nm, c = 5.064 nm. The 0.32 nm longer c-axis of form II as compared with form I is attributed to an overextended chain conformation due to the expansion of ether and ketone bridge bond angles during uniaxial drawing. The temperature dependence of WAXD patterns for the drawn PEDEKmK suggests that form II can be transformed into the more stable form I by relaxation of overextended chains and relief of internal stress at elevated temperature in absence of external tension.

A study of cokes used as anodic materials in lithium ion rechargeable batteries

A variety of cokes pretreated at different temperatures are used as anodic materials and their electrochemical characteristics are examined by cyclic voltammetry. It is found that for some cokes such as petroleum coke (preheated at 1300 degrees C), pitch coke (1300 degrees C), needle coke (1900 degrees C), metallurgical coke (1900 degrees C), high capacity and cyclic efficiency are achieved. Needle coke (1900 degrees C) and metallurgical coke (1900 degrees C) in particular give a capacity of over 200 mAh/g and a cyclic efficiency of nearly 100%, whereas poor performance is exhibited by those pretreated at higher or lower temperatures, e.g., petroleum cokes (500 degrees C, 2800 degrees C), pitch coke (500 degrees C) and needle coke (2800 degrees C). The cyclic voltammograms show two electrochemical processes, one at about 0.1 V vs. Li+/Li which is electrochemically reversible, and may be attributed to the intercalation/deintercalation of lithium ions while the other, at about 0.6 V vs. Li+/Li, is electrochemically irreversible and may be assigned to the decomposition of the electrolyte solvent, which leads to formation of the passive film on the anode surface. The experimental results strongly suggest that the pretreatment temperature of cokes and of the solvent are determining factors for the growth, structure and properties of the passive film.

Synthesis and properties of block copolymers of poly(ether sulphone)s with liquid crystalline polyester units

Block copolymers of poly(ethersulphone) (PES) oligomers with liquid crystalline polyester units were synthesized by the reaction of dihydroxy-terminated poly(ether sulphone) oligomers (number-average molecular weights: 704, 1,158 and 2570) and terephthaloyl bis(4-oxybenzoyl chloride), and their properties were investigated. The results indicated that the copolymer with PES segments of molecular weight of 704 possessed birefringent features when annealed at 360 degrees C, while the copolymer with PES segments of molecular weight of 2,570 became isotropic. Also, the block copolymers had a better chemical resistance and high-temperature stability than PES.

IN-SITU COMPOSITE - PHENOLPHTHALEIN POLYETHERSULFONE-THERMOTROPIC LIQUID-CRYSTALLINE POLYMER BLENDS

Phase behavior, thermal, theological and mechanical properties plus morphology have been studied for a binary polymer blend. The blend is phenolphthalein polyethersulfone (PES-C) with a thermotropic liquid crystalline polymer (LCP), a condensation copolymer of p-hydroxybenzoic acid with ethylene terephthalate (PHB-PET). It was found that these two polymers form optically isotropic and homogeneous blends by means of a solvent casting method. The homogeneous blends undergo phase separation during heat treatment. However, melt mixed PES-C/PHB-PET blends were heterogeneous based upon DSC and DMA analysis and SEM examination. Addition of LCP in PES-C resulted in a marked reduction of melt viscosity and thus improved processability. Compared to pure PES-C, the charpy impact strength of the blend containing 2.5% LCP increased 2.5 times. Synergistic effects were also observed for the mechanical properties of blends containing < 10% LCP. Particulates, ribbons, and fibrils were found to be the typical morphological units of PHB-PET in the PES-C matrix, which depended upon the concentration of LCP and the processing conditions.

Characteristics and Formation Mechanism of Polygonal Faults in Qiongdongnan Basin, Northern South China Sea

Based on high-resolution 3D seismic data, we document the polygonal faults within the Miocene Meishan (sic) Formation and Huangliu (sic) Formation of the Qiongdongnan (sic) basin, northern South China Sea. Within the seismic section and time coherent slice, densely distributed extensional faults with small throw and polygonal shape were identified in map view. The orientation of the polygonal faults is almost isotropic, indicating a non-tectonic origin. The deformation is clearly layer-bounded, with horizontal extension of 11.2% to 16%, and 13.2% on average. The distribution of polygonal faults shows a negative correlation with that of gas chimneys. The development of polygonal faults may be triggered by over-pressure pore fluid which is restricted in the fine-grained sediments of bathyal facies when the sediments is compacted by the burden above. The polygonal faults developed to balance the volumetric contraction and restricted extension. The product of hydrocarbon in the Meishan Formation may have contributed to the development of the polygonal faults. In the study area, it was thought that the petroleum system of the Neogene post-rift sequence is disadvantageous because of poor migration pathway. However, the discovery of polygonal faults in the Miocene strata, which may play an important role on the fluid migration, may change this view. A new model of the petroleum system for the study area is proposed.

Effective elastic properties of piezoelectric composites with radially polarized cylinders

Effective elastic properties of piezoelectric composites containing an infinitely long, radially polarized cylinder embedded in an isotropic non-piezoelectric matrix are theoretically investigated under an external strain field. Analytical solutions of elastic displacement and electric potentials are exactly derived, and the effective elastic responses are formulated in the dilute limit. Meanwhile, a vanishing piezoelectric response mechanism is revealed in the piezoelectric composite containing radially polarized cylinders. Furthermore, it is shown that the effective elastic properties can be enhanced (or reduced) due to the increase of the piezoelectric (or dielectric) constants of the cylinders. (C) 2009 Elsevier B.V. All rights reserved.

Effective properties of graded elliptical cylindrical composites

The effective property has been investigated theoretically in graded elliptical cylindrical composite's consisting of inhomogeneous graded elliptical cylinders and an isotropic matrix under external uniform electric field. As a theoretical model, the dielectric gradient profile in the elliptical cylinder is modeled by a power-law function of short semi-axis variable parameter (xi(2) - 1) in the elliptical cylindrical coordinates, namely epsilon(i)(xi) = c(k) (xi(2) - 1)(k), where c(k) and k are the parameters, and xi is the long semi-axis space variable in an elliptical cylindrical inclusion region. In the dilute limit, the local analytical potentials in inclusion and matrix regions are derived exactly by means of the hyper-geometric function, and the formulas are given for estimating the effective dielectric responses under the external lfield along (x) over cap- and (y) over cap -directions, respectively. Furthermore, we have demonstrated that our effective response formulas can be reduced to the well-known results of homogeneous isotropic elliptical cylindrical composites if we take the limit k -> 0 in graded elliptical cylindrical composites. (c) 2006 Elsevier B.V. All rights reserved.

Dielectric responses of anisotropic graded granular composites having arbitrary inclusion shapes

The transformation field method (TFM) originated from Eshelby's transformation field theory is developed to estimate the effective permittivity of an anisotropic graded granular composite having inclusions of arbitrary shape and arbitrary anisotropic grading profile. The complicated boundary-value problem of the anisotropic graded composite is solved by introducing an appropriate transformation field within the whole composite region. As an example, the effective dielectric response for an anisotropic graded composite with inclusions having arbitrary geometrical shape and arbitrary grading profile is formulated. The validity of TFM is tested by comparing our results with the exact solution of an isotropic graded composite having inclusions with a power-law dielectric grading profile and good agreement is achieved in the dilute limit. Furthermore, it is found that the inclusion shape and the parameters of the grading profile can have profound effect on the effective permittivity at high concentrations of the inclusions. It is pointed out that TFM used in this paper can be further extended to investigate the effective elastic, thermal, and electroelastic properties of anisotropic graded granular composite materials.

可重构模块机器人倾翻稳定性研究

介绍了一种可重构模块机器人,它可以通过构形的变化来提高系统的稳定性和抗倾翻能力.该机器人由3个模块组成,采用履带驱动,具有直线、三角、并排3种对称构形.在对移动机器人的倾翻因素和倾翻对策等问题进行分析的基础上,提出稳定锥方法,用倾翻性能指数对移动机器人的静、动态稳定性进行综合判定.讨论了变形机器人3种对称构形在仰俯、偏转、倾斜等干扰组合作用下的倾翻性能指数和综合稳定性,并进行了仿真实验和非结构环境实验.

链式可重构机器人单模块结构设计与运动实验

提出了一种新型模块化链式移动机器人机构,它具有可重构、自动变形的特点。单个标准模块主要由中间通孔式连接手臂、履带驱动链传动装置、模块偏转锥齿轮传动装置、模块俯仰链传动装置、连接柄等组成。模块间由偏转关节、连接柄、连接臂和仰俯关节进行连接组合。为提高单个模块的机动性和实现运动自主功能,对标准模块进行了适当改进,单模块机器人采用了履带、轮、臂、腿组合的移动机构,具有三维空间的运动能力。最后对单模块机器人样机在垂直壁障碍、平地支腿、平地转弯、斜坡、楼梯等情况下的运动能力进行了实验,为进一步实现多模块机器人的自重构和环境应用打下了基础。

微型ROV控制装置及控制方法

介绍了一种基于嵌入式ARM9技术的微型ROV的控制装置及控制方法。该装置可以同时进行两通道串行通讯,实现微型ROV的视频信号、潜水深度、艏向角度、纵倾角度、横摇角度、电子舱温度等数据的采集和与上位机的通讯传输;该装置可以采集16路模拟量信号和12路数字量信号,输出4路模拟量信号和12路TTL电平信号,实现推进器、水下灯、水下摄像机、云台等ROV功能器件的驱动。该装置具有通讯能力强、集成度高、功耗低等特点,可以满足微型ROV所有的常用功能要求。

水下滑翔机器人运动机理仿真与实验

对水下滑翔机器人SEA-WING的定常滑翔运动和空间定常螺旋回转运动进行机理分析,针对其特定水动力系数进行仿真,得出其运动机理特性。在此基础上,通过湖试实验数据对仿真结果进行验证,认为对于定常滑翔运动,以约36°航迹角滑行可得到最大水平速度;在相同航迹角航行情况下,水平方向速度随净浮力的增大而增大。对于定常回转运动,回转半径由载体的质量、俯仰角、水动力参数、横滚角确定。在质量和俯仰角保持不变条件下,横滚角对回转半径的影响较明显,系统的回转半径可以通过控制横滚角来实现的。

水下滑翔机器人运动分析与载体设计

水下滑翔机器人是一种新型水下机器人,具有噪声低、航行距离远、续航时间长、成本低等特点。分析了水下滑翔机器人的驱动机理和运动实现,给出了水下滑翔机器人典型运动的仿真结果,并以正在设计的一水下滑翔机试验样机为研究对象,描述了样机的整体结构布局,详细研究了浮力调节机构、俯仰调节机构和横滚调节机构的实现方法,并就样机中各执行机构的设计实现进行了论述。

水下滑翔机器人运动调节机构设计与运动性能分析

描述了水下滑翔机器人3个运动调节机构的设计,即浮力调节机构、俯仰调节机构和横滚调节机构,分析了运动调节机构与运动之间的关系.提出了采用CFX水动力计算软件分析水下滑翔机器人运动性能的方法.根据CFX计算结果,用最小二乘法参数辨识方法辨识出定常滑翔运动的水动力参数.简化了空间螺旋回转运动过程,通过CFX水动力计算方法进行回转特性分析,估算回转半径.

“CR-02”AUV无动力下潜运动预报

本文针对“CR- 0 2”AUV海试前的无动力下潜运动进行了预报 .该文在建立 AUV无动力下潜运动数学模型基础上 ,研究分析了其稳态运动的特点 ,提出了下潜深度变化率和纵倾角是描述 AUV无动力下潜运动的重要参数 ,并获得了它们的解析表达式 ,无需使用计算机 ,就能快速、方便、准确地确定上述参数 ,并选取适当的下潜压载 ,以提高下潜速度 ,减少下潜时间 ,该方法具实际应用价值 .