基于旋翼负压混合吸附的爬壁清洗机器人系统动力学性能研究

针对爬壁清洗机器人越障时,负压装置的吸附力下降导致吸附不稳定的问题,设计了一种旋翼负压混合吸附工作的多边形履带清洗机器人,并对爬行稳定性及越障性能进行了动力学分析。首先根据机器人爬壁的运动原理,建立机器人沿玻璃幕墙上的动力学模型,计算出电机理论驱动力矩;其次分析机器人在跨越障碍过程中的运动模型,结合与壁面接触的实际受力状态,对越障过程中关键阶段的本体倾翻、滑移两种失效形式进行运动学和动力学分析;然后根据玻璃幕墙实际的障碍高度,确定多边形履带的参数和理论驱动力矩的大小,并研制了实验样机进行爬行和越障试验,结果表明所设计的机器人具有良好的越障性能。     

The PAR(p) Interconfigurations model used by the Brazilian Electric Sector

This study discusses the characteristics of the Periodic Autoregressive model, PAR(p), which is used to generate synthetic series of inflow energies that serve as entries for computer platforms that implement the planning and expansion of the operations of the BES – the Brazilian Electric Sector (SEB – Sistema Elétrico Brasileiro). The methodology for the design of a generating plant is presented in addition to the fundamentals of the “PAR(p) Interconfigurations” Model, which is referred to as the Inflow Energy Generation Model (IEGM) in this study. The major contribution of this study is to provide the first scientific discussion of the representation of multiple configurations using the PAR(p) model. For this purpose, several topics related to the time series are discussed, such as the definition of the model order, the matter of stationarity and the need to address possible outliers. Finally, a case study is presented, wherein the results of the estimation and generation of the described model’s scenarios are demonstrated.     

基于多体动力学仿真的冰箱助吸器优化设计

某款冰箱在关门过程中,门体在多个小角度处出现悬停的现象,影响用户的体验。针对这一问题,基于多体动力学仿真对冰箱助吸器进行了优化设计。将助吸器变形量、刚度、有效力臂接触位置点至铰链轴心连线长度,以及这一连线与接触位置法向夹角作为关键因子,研究关键因子与设计目标之间的关系,进行助吸器的结构设计与性能评估。在此基础上,基于多体动力学仿真,实现助吸器的优化,并形成最终设计方案。基于多体动力学仿真进行优化设计,可以缩短开发周期,提高设计效率,具有较高的实用价值。     

防止输送带打滑的新方法

针对目前输送带打滑的问题,通过对输送带打滑原理的分析,要想解决输送带的打滑,就需要动态调整输送带的张力。基于此设计了一种短距离输送机的输送带自动张紧装置,该装置通过2个电液推杆来张紧输送带,并给出了具体的自动控制策略,能很好地解决输送带打滑问题。     

AT89C2051芯片在车载产品中的应用

本文论述了采用单片机技术研制成功的泊车用超声波测距仪的基本原理,用AT89C2051作为控制器的实现方案,以及采用软件校正的方法,提高了测量精度和整机的可靠性.     

Beneficial effects of wettability altering surfactants in oil-wet fractured reservoirs

In fractured reservoirs, an effective matrix-fracture mass transfer is required for oil recovery. Surfactants have long been considered for oil recovery enhancement, mainly in terms of their ability to reduce oil–water interfacial tension. These surfactants are effective when the fractured formations are water-wet, where capillary imbibition of surfactants from the fracture into the matrix contributes to oil recovery. However, another beneficial aspect of surfactants, namely their ability to alter wettability, remains to be explored and exploited. Surfactants capable of altering wettability can be especially beneficial in oil-wet fractured formations, where the surfactant in the fracture diffuses into the matrix and alters the wettability, enabling imbibition of even more surfactant into the matrix. This sequential process of initial diffusion followed by imbibition continues well into the matrix yielding significant enhancements in oil recovery.In order to test this hypothesis of sequential diffusion–imbibition phenomenon, Dual-Drop Dual-Crystal (DDDC) contact angle experiments have been conducted using fractured Yates dolomite reservoir fluids, two types of surfactants (nonionic and anionic) and dolomite rock substrates. A new experimental procedure was developed in which crude oil equilibrated with reservoir brine has been exposed to surfactant to simulate the matrix-fracture interactions in fractured reservoirs. This procedure enables the measurements of dynamic contact angles and oil–water interfacial tensions, in addition to providing the visual observations of the dynamic behavior of crude oil trapped in the rock matrix as it encounters the diffusing surfactant from the fractures. Both the measurements and visual observations indicate wettability alterations of the matrix surface from oil-wet to less oil-wet or intermediate wet by the surfactants. Thus this study is of practical importance to oil-wet fractured formations where surfactant-induced wettability alterations can result in significant oil recovery enhancements. In addition, this study has also identified the need to include contact angle term in the dimensionless Bond number formulations for better quantitative interpretation of rock–fluids interactions.     

A note on the value function for constrained control problems

We consider the Mayer optimal control problem with dynamics given by a nonconvex differential inclusion, whose trajectories are constrained to a given set and we obtain a relation between the costate function that appears in the maximum principle and the value function. This relation extends the known conditions existing in the literature for unconstrained problems to those for problems under state constraints.     

浅析医药包装

随着市场经济的深入，医药包装正成为我国经济发展的朝阳产业，文中意在介绍先进的医药包装材料。分析其应用情况及发展趋势和动态。     

Synthesis and Interfacial Tension Behavior of Heavy Alkyl Benzene Sulfonates

Heavy alkyl benzene sulfonates (HABS) were synthesized, and their interfacial tensions were measured and compared with those of petroleum sulfonates ORS-41. Effects of their coupling with lignosulfonate were also studied. The results showed that HABS exhibited good interfacial activities and the system of HABS blending with LS displayed better interfacial activities than ORS-41 and therefore reduced the prime cost. Their best proportions of synergism were from 3:1 to 4:1. HABS might be a more promising alkali-surfactant-polymer (ASP) flooding agent.     

磺基琥珀酸双2-丁基辛酯钠盐的合成及表面活性测定

以马来酸酐和2-丁基辛醇为原料,经酯化得到相应的双酯,以乙醇作混相促进剂,使双酯与亚硫酸氢钠进行磺化反应,合成了磺基琥珀酸双2-丁基辛酯钠盐。采用正交试验对酯化反应条件进行了优化。合成产物的临界胶束浓度(cmc)值为3.58×10-6mol/L,表面张力(γcmc)为27.568mN/m。