一种新的含水率校正方法

从研究流体流动规律出发,结合模拟井实验结果,建立了多参数、非线性的半理论和半实验含水率校正模型,提出了反映两相滑脱效应的滑动比概念,其计算方法物理意义清晰并具有明确的收敛边界。与模拟井实验结果进行对比,使用平方法降低了含水率校正误差。     

垂直井两相流动生产测井解释滑动模型

在两相流动模拟实验数据分析的基础上 ,提出油水两相和气液两相流动的滑脱速度的实验关系 ,进而确定垂直井两相流动生产测井解释的滑动模型。现场实际测井资料处理结果表明该模型有很好的应用效果     

Towards robust grasping: An analysis of in-hand object motion with FBG optical fibers as force sensing technology

To enable or allow for advanced manipulation scenarios in the envisaged future in robotic manipulation, the introduction of tactile or force-sensing technology is essential. This work introduces a study on a novel integration of fiber sensing elements inside the fingers of robotics grippers that allow obtaining accurate interaction forces during object manipulation. The study focuses on in-hand object motion and analyzes the objects’ dynamic behaviors during grasping or contact phases. The proposed approach classifies the behavior of the gripper-object interaction in real-time by looking at the measured forces in the orthogonal direction of the gripper’s fingers after a filtering stage. The methodology is validated theoretically and evaluated with real experiments using objects presenting different shapes, sizes, and surface properties.     

Slippage control in soft finger grasping and manipulation

Handling objects with robotic soft fingers without considering the odds of slippage are not realistic. Grasping and manipulation algorithms have to be tested under such conditions for evaluating their robustness. In this paper, a dynamic analysis of rigid object manipulation with slippage control is studied using a two-link finger with soft hemispherical tip. Dependency on contact forces applied by a soft finger while grasping a rigid object is examined experimentally. A power-law model combined with a linear viscous damper is used to model the elastic behavior and damping effect of the soft tip, respectively. In order to obtain precise dynamic equations governing the system, two second-order differential equations with variable coefficients have been designed to describe the different possible states of the contact forces accordingly. A controller is designed based on the rigid fingertip model using the concept of feedback linearization for each phase of the system dynamics. Numerical simulations are used to evaluate the performance of the controller. The results reveal that the designed controller shows acceptable performance for both soft and rigid finger manipulation in reducing and canceling slippage. Furthermore, simulations indicate that the applied force in the soft finger manipulation is considerably less than the rigid “one.”.     

120 mm×120 mm结晶器振动参数的优化

分析了120 mm×120 mm断面结晶器溅钢的主要原因,通过优化结晶器的振动参数,消除了结晶器溅钢,漏钢现象,脱模情况有所改观,取得了良好的效果.     

车轴径向锻造过程浅析

以某车轴径向锻造为例,分析锻造加热以及锻造工艺的特点,并且用滑移法分析径向锻造变形过程,建立了外摩擦影响下的滑移场模式,并做出了与之相对应的速端图。     

国家体育馆屋盖滑移支撑转换变形分析

国家体育馆在滑移施工过程中一个非常关键的步骤是七点支撑转变为三点支撑,文章给出两种转换方案,分析此过程中结构的位移、支撑架反力、杆件应力的变化情况。     

零卷吸预跑合对一类反常弹流油膜的影响

在极低速纯滑动的光弹流实验中,采用高粘度聚丁烯润滑剂形成的弹流油膜会在入口区出现凹陷,该反常的入口凹陷与极限剪切应力/界面滑移有关。针对盘纯滑和球纯滑2种不同的运动条件进行了油膜形状的测量,分析了零卷吸预跑合对油膜形状的影响。结果表明,一般地,纯玻璃盘滑动和纯钢球滑动产生的此类反常的油膜形状并不相同;当对弹流接触副采用零卷吸预跑合处理(即钢球和玻璃盘在接触区以大小相同方向相反的速度运动)之后,纯玻璃盘滑动形成的油膜形状有较大变化,油膜厚度增加,入口的楔形斜度下降,此时纯玻璃盘滑动和纯钢球滑动产生的油膜形状差别减小,甚至相同。     

江苏油田三种典型钻具组合复合井导向力计算分析

结合江苏油田导向钻井技术现场试验中采用的三种典型的滑动导向钻具组合,在计算复合钻井导向力的基础上,探讨了两个主要因素对复合钻井导向力的影响规律,理论计算结果与现场试验结果基本吻合,通过设计钻具组合的结构和施工参数,可以提高井眼轨迹控制精度。     

一种新的低渗透气藏产能方程

综合分析滑脱效应、启动压力梯度效应和高速非达西效应,依据渗流力学原理建立稳定渗流条件下综合考虑三种效应影响的低渗透气藏产能方程.应用该方程对不同滑脱系数和不同启动压力梯度下的流入动态曲线进行比较.在相同井底流压下,随着滑脱效应影响因子的增大,气井产能逐渐增大；随着启动压力梯度的增大,气井产能逐渐减小.