渗硫层对网格化激光淬火表面摩擦磨损性能的影响

利用低温离子渗硫技术在CrMoCu合金铸铁网格化激光淬火表面制备了渗硫层,分析了其形貌组成与结构,考察了渗硫激光复合表面的摩擦学性能。结果表明:渗硫层表面疏松多孔,在淬火区域硫化物颗粒细小,结构致密,其相组成主要为FeS;在干摩擦条件下,渗硫层能降低网格化激光淬火表面的摩擦因数,提高其耐磨性能,其主要原因是硫化物及摩擦化学反应生成的氧化物能在摩擦表面形成边界润滑膜,抑制了磨粒磨损和粘着磨损,有效减弱了网格化激光淬火表面"摩擦台阶"效应。     

坚持科教兴国战略 传播先进科学文化

江泽民同志“三个代表”的重要思想是十六大报告的灵魂。作为教育工作者 ,贯彻“三个代表”重要思想 ,必须坚持科教兴国战略 ,努力传播时代文明 ,忠诚党的教育事业     

三关节机器人的神经网络补偿自适应控制器设计

三关节机器人广泛用于工业生产、轮式或履带式排爆机器人,为了补偿由于机器人结构参数、作业环境干扰等不确定性因素造成的机器人动力学模型的不确定性,将机器人动力学模型分解为名义模型和误差模型两部分,其误差模型采用RBF神经网络进行补偿,得到其估计信息,神经网络的输出权值根据Lyapunov稳定性理论采用自适应算法进行调整。所设计的神经网络补偿自适应控制器解决了不确定性机器人动力学系统控制器设计的不确定性问题,同时,通过定义Lyapunov函数,证明了控制器能渐近、稳定地跟踪期望轨迹。机器人的3个关节在控制器的作用下,约在5 s时达到期望轨迹,神经网络约在5 s时逼近机器人动力学模型的误差模型,实验结果表明了机器人关节对期望轨迹具有良好的轨迹跟踪性能。     

Design of infrared camouflage cloak for underground silos

The temperature difference between the exposed surface of an underground silo and the surrounding soil surface is significant, which means a silo can be easily found by infrared detection. We designed an infrared camouflage cloak consisting of an imitative layer and an insulation layer for the silos. The imitative layer is used to imitate the thermal response of the soil to the surrounding environment. The insulation layer is used to weaken the impact of the internal temperature field of the silo on the lower boundary of the imitative layer. A silo model including surrounding soil and a soil model without silo were established, and the influences of the material and thickness of each layer on the infrared camouflage effect were analyzed. The results show that when using a silicone rubber containing alumina powder with a volume fraction of 3.18% as the imitative material, its thermal inertia is in consistent with that of the soil. Meanwhile, it was found that the thickness of the imitative layer doesn’t need to be greater than its thermal penetration depth to achieve the infrared camouflage, and the absence of the insulation layer will cause hot spots on the silo surface in winter to weaken the camouflage effect. The optimized thicknesses of the imitative layer and the insulation layer are 22 cm and 4 cm respectively. The simulations indicate that with the application of the cloak, the maximum value of the absolute values of the temperature differences between the average temperatures of the silo surface and the surrounding soil surface temperatures drops from 1.59 °C to 0.31 °C in summer and from 1.92 °C to 0.21 °C in winter. This designed cloak can achieve an all-weather and full-time passive infrared camouflage.