Dynamics of pion production in heavy-ion collisions around 1A GeV energies

Within the framework of the improved isospin-dependent quantum molecular dynamics model, the dynamics of pion emission in heavy-ion collisions in the region of 1A GeV energies as a probe of nuclear symmetry energy at suprasaturation densities is investigated systematically. The total pion multiplicities and the pi(-)/pi(+) yields are calculated for selected Skyrme parameters SkP, SLy6, Ska, and SIII and also for the cases of different stiffness of symmetry energy with the parameter SLy6. The influence of Coulomb potential, symmetry energy, and in-medium pion potential on the pion production is investigated and compared to each other by analyzing the distributions of transverse momentum and longitudinal rapidity and also the excitation functions of the total pion and the pi(-)/pi(+) ratio. The directed flow, elliptic flow, and polar-angle distributions are calculated for the cases of different collision centralities and also the various stiffnesses of the symmetry energies. A comparison of the calculations with the available experimental data is performed.

PROBING THE SYMMETRY ENERGY AT SUPRA-SATURATION DENSITIES FROM PION EMISSION IN HEAVY-ION COLLISIONS

Within the framework of the improved isospin dependent quantum molecular dynamics (ImIQMD) model, the emission of pion in heavy-ion collisions in the region 1 A GeV as a probe of nuclear symmetry energy at supra-saturation densities is investigated systematically, in which the pion is considered to be mainly produced by the decay of resonances Delta(1232) and N*(1440). The pi(-)/pi(+) yields are calculated for selected Skyrme parameters SkP, SLy6, Ska and SIII, and also for the cases of different stiffness of symmetry energy with the parameter SLy6. Preliminary results compared with the measured data by the FOPI collaboration favor a hard symmetry energy of the potential term proportional to (rho/rho(0))(gamma s) with gamma(s) = 2.

Low-compressibility and hard materials ReB2 and WB2: Prediction from first-principles study

First-principle calculations are performed to investigate the structural, elastic, and electronic properties of ReB2 and WB2. The calculated equilibrium structural parameters of ReB2 are consistent with the available experimental data. The calculations indicate that WB2 in the P6(3)/mmc space group is more energetically stable under the ambient condition than in the P6/mmm. Based on the calculated bulk modulus, shear modulus of polycrystalline aggregate, ReB2 and WB2 can be regarded as potential candidates of ultra-incompressible and hard materials. Furthermore, the elastic anisotropy is discussed by investigating the elastic stiffness constants. Density of states and electron density analysis unravel the covalent bonding between the transition metal atoms and the boron atoms as the driving force of the high bulk modulus and high shear modulus as well as small Poisson's ratio.

Stress transfer and damage evolution simulations of fiber-reinforced polymer-matrix composites

The stress transfer from broken fibers to unbroken fibers in fiber-reinforced thermosetting polymer-matrix composites and thermoplastic polymer-matrix composites was studied using a detailed finite element model. In order to check the validity of this approach, an epoxy-matrix monolayer composite was used as thermosetting polymer-matrix composite and a polypropylene (PP)-matrix monolayer composite was used as thermoplastic polymer-matrix composite, respectively. It is found that the stress concentrations near the broken fiber element cause damage to the neighboring epoxy matrix prior to the breakage of other fibers, whereas in the case of PP-matrix composites the fibers nearest to the broken fiber break prior to the PP matrix damage, because the PP matrix around the broken fiber element yields. In order to simulate composite damage evolution, a Monte Carlo technique based on a finite element method has been developed in the paper. The finite element code coupled with statistical model of fiber strength specifically written for this problem was used to determine the stress redistribution. Five hundred samples of numerical simulation were carried out to obtain statistical deformation and failure process of composites with fixed fiber volume fraction.

Thermal, mechanical and ionic conductive behaviour of gamma-radiation induced PEO/PVDF(SIN)-LiClO4 polymer electrolyte system

An effort has been made to modify the mechanical behaviour of our previously reported gel-type gamma-radiation crosslinked polyethylene oxide (PEO)-LiClO4 polymer electrolyte. A highly polar and gamma-radiation crosslinkable crystalline polymer, polyvinylidene fluoride (PVDF), was selected to blend with PEO and then subjected to gamma-irradiation in order to make an simultaneous interpenetrating network (SIN), which was used as a polymer host to impart stiffness to the plasticized system. Experimental results have shown that the presence of PVDF in the system, through gamma-radiation induced SIN formation, could not only give a rather high mechanical modulus of 10(7) Pa at ambient temperature, but also maintain the room temperature ionic conductivity at a high level (greater than 10(-4) S/cm). DSC, DMA and conductivity measurement techniques were used to examine the effects of blending, gamma-irradiation and plasticization on the variations of glass transition and melting endotherm, on the appearance of high elastic plateau and on the temperature dependence of ionic conductivity: In addition, it was found that, in contrast with the unplasticized system, the ionic conductivity mechanism of this gel-type electrolyte seems to conform to the Arrhenius model, suggesting that, as a result of the high degree of plasticization, the polymer chains act mainly as the skeleton of the networks or polymer cages to immobilize the liquid electrolyte solution, whereas the ionic species migrate as if they were in a liquid medium. (C) 1997 Elsevier Science Ltd.

GLASS-TRANSITION TEMPERATURE AND MOLECULAR-PARAMETERS OF POLYMER

A new relationship, which correlates the glass transition temperature (T(g)) with other molecular parameters, is developed by using Flory's lattice statistics of polymer chain and taking the dynamic segment as the basic statistical unit. The dependences of T(g) on the chain stiffness factor (sigma-2), dynamic stiffness factor (beta = -d ln-sigma-2/dT) and molecular weight of polymer are discussed in detail based on the theory. The theory is compared with experimental data for many linear polymers and good agreement is obtained. It is shown that T(g) is essentially governed by the chain stiffness factor at T(g). Moreover, a simple correlation between the parameter K(g) of the Fox-Flory equation (T(g) = T(g)infinity - K(g)/M(n)) and other molecular parameters is deduced. The agreement between theoretical predictions and experimental measurements of K(g) has been found to be satisfactory for many polymers.

Bioorganic/inorganic hybrid composition of sponge spicules: Matrix of the giant spicules and of the comitalia of the deep sea hexactinellid Monorhaphis

The giant basal spicules of the siliceous sponges Monorhaphis chuni and Monorhaphis intermedia (Hexactinellida) represent the largest biosilica structures on earth (up to 3 m long). Here we describe the construction (lamellar organization) of these spicules and of the comitalia and highlight their organic matrix in order to understand their mechanical properties. The spicules display three distinct regions built of biosilica: (i) the outer lamellar zone (radius: >300 mu m), (ii) the bulky axial cylinder (radius: <75 mu m), and (iii) the central axial canal (diameter: <2 mu m) with its organic axial filament. The spicules are loosely covered with a collagen net which is regularly perforated by 7-10 mu m large holes; the net can be silicified. The silica layers forming the lamellar zone are approximate to 5 mu m thick; the central axial cylinder appears to be composed of almost solid silica which becomes porous after etching with hydrofluoric acid (HF). Dissolution of a complete spicule discloses its complex structure with distinct lamellae in the outer zone (lamellar coating) and a more resistant central part (axial barrel). Rapidly after the release of the organic coating from the lamellar zone the protein layers disintegrate to form irregular clumps/aggregates. In contrast, the proteinaceous axial barrel, hidden in the siliceous axial cylinder, is set up by rope-like filaments. Biochemical analysis revealed that the (dominant) molecule of the lamellar coating is a 27-kDa protein which displays catalytic, proteolytic activity. High resolution electron microscopic analysis showed that this protein is arranged within the lamellae and stabilizes these surfaces by palisade-like pillars. The mechanical behavior of the spicules was analyzed by a 3-point bending assay, coupled with scanning electron microscopy. The load-extension curve of the spicule shows a biphasic breakage/cracking pattern. The outer lamellar zone cracks in several distinct steps showing high resistance in concert with comparably low elasticity, while the axial cylinder breaks with high elasticity and lower stiffness. The complex bioorganic/inorganic hybrid composition and structure of the Monorhaphis spicules might provide the blueprint for the synthesis of bio-inspired material, with unusual mechanical properties (strength, stiffness) without losing the exceptional properties of optical transmission. (C) 2007 Elsevier Inc. All rights reserved.

一种3自由度并联柔索驱动机器人的变刚度特性研究

以一种3自由度并联驱动机器人为研究对象,研究这种机器人的变刚度特性。从操作臂的静力学出发,对并联柔索驱动机器人的刚度进行了分析得到刚度公式。从得到的公式可以看出,操作臂的刚度不仅与各分支的刚度有关,与操作臂位姿有关,还与张紧柔索的张紧力有关。在机器人各分支上串联刚度较低的弹簧后做刚度实验,试验结果验证了对刚度理论分析所得的结论。

并联刨床刚度分析及实验研究

为了提高刨削加工能力,而采用考虑到并联机构的特点而提出了并联刨床的概念并对其进行了简单说明.采用对机床进行分解的方法对机床的各功能模块分别建立刚度模型,并利用变形线性叠加的原理对机床的并联部分刚度进行分析.采用有限元软件对机床的床身框架及平面约束机构部分的刚度进行分析.并以仿真和实验加工的方式进行了刚度特性研究.

3自由度并联柔索驱动变刚度操作臂的刚度控制

利用柔索的弹性及驱动冗余性构造了一种3自由度并联柔索驱动变刚度操作臂,在静力学与刚度分析的基础上,进行刚度控制研究。首先,将柔索驱动力映射到关节空间,并分析等效关节力与柔索张力和外力的关系, 提出该操作臂的三维力矢量闭合原理。根据微分变换原理进行刚度分析,得到关节刚度矩阵及操作手刚度矩阵, 并进行数值算例分析,结果表明:刚度与柔索的张力有关,调节柔索张力可以改变系统刚度。最后,采用位置与张力混合控制的策略,对该变刚度操作臂进行了刚度控制,并进行了仿真验证。

轮式移动宜人机器人可变刚度腰部机构设计

轮式移动宜人机器人是一个仿人机器人技术研究平台,它由正交轮式移动平台、腰部、双臂、躯干及头部组成。仿人机器人腰部的构成对其运动学、动力学性能起着重要的作用。分析了目前仿人机器人腰部机构存在的问题,提出了一种具有可变刚度特征的仿人机器人腰部设计方案。设计方案使仿人机器人具有良好的柔顺性,提高了机器人与人协作时的安全性、稳定性和抗干扰能力。着重分析了腰部机构的运动学、动力学以及可变刚度特性。

并联柔索驱动操作臂静刚度的理论分析

文章对并联柔索驱动机器人(PWDRs)的静态刚度问题进行了理论分析。首先，基于微分变换原理，提出并证明了关于柔索矩阵微小变化变分形式的命题，在此基础上推导了操作臂完整刚度的解析公式，它包括与结构参数有关的刚度及与柔索张力有关的刚度两部分。然后，对这一理论结果进行了数值仿真。研究结果表明：操作臂刚度不仅依赖于机构几何尺寸、柔索与电机刚度及操作臂位置与姿态等结构参数，还与柔索的张力有关、因此，可以通过改变柔索张力来调节PWDRs操作臂的刚度．实现机构变刚度。

基于Stewart平台六维力传感器的分区静态标定方法

基于Stewart平台的六维力传感器具有结构紧凑、刚度大、量程宽等特点,它在工业机器人、空间站对接等领域具有广泛的应用前景。好的标定方法是正确使用传感器的基础。由于基于Stewart平台的六维力传感器是一个复杂的非线性系统,所以采用常规的线性标定方法必将带来较大的标定误差从而影响其使用性能。标定的实质是,由测量值空间到理论值空间的映射函数的确定过程。由函数逼近理论可知,当只在已知点集上给出函数值时,可用多项式或分段多项式等较简单函数逼近待定函数。基于上述思想,本文将整个测量空间划分为若干连续的子测量空间,再对每个子空间进行线性标定,从而提高了整个测量系统的标定精度。实验分析结果表明了该标定方法有效。

偏动式双程SMA驱动器工作机理与能量转换研究

研究了偏动式双程ＳＭＡ驱动器的工作机理，建立了驱动器输出力、输出位移、负载与驱动元件弹性刚度和预变形之间的变量关系。基于热力学基本定律，给出了双程ＳＭＡ驱动器工作过程中能量的周期性流动、转移和转化模型，指出双程ＳＭＡ驱动器双程做功的能量都来源于ＳＭＡ元件的相变弹性势能，能量的一部分用于来程做功，一部分在来程转移给偏置元件，用于回程时做工，还有一部分被释放掉。

机器人手臂弹性动力学分析的高效算法

本文提出一种用于机器人手臂弹性动力学分析的新方法,该方法采用了动力学方程缩减技术,使计算时间大为减少。在此基础上针对关节型机器人结构特点,提出了考虑手臂关节之间的弹性连接的数学模型,使计算精度得到提高,最后给出了一个实例。