汽车加油机器人关键技术分析

传统加油模式使操作人员易受有毒易燃油气的侵害,而且严冬酷暑时加油站作业环境恶劣,因此在加油站配置机器人实现智能化加油变得十分迫切。介绍了国内外汽车加油机器人的研究进展,指出其作业对象的差异性、环境的多变性以及作业过程的危险性。分析了当前汽车加油机器人所采用的加油机构、加注接口以及识别与定位技术的特点,指出加油机构优化、安全控制、智能识别与定位研究是汽车加油机器人发展的方向。     

基于飞行仿真的近地告警包线计算

TSO-C151b标准中近地告警包线为通用模型设计,未结合飞机的自身特性。为精确给出飞机过大下降速率告警包线,通过结合飞机自身气动特性和操纵特性,分析告警机理,建立飞机六自由度仿真程序。依据飞机发动机数据、气动力数据、质量特性数据等,建立仿真模型及操作程序,实时模拟飞机各舵面的操作响应过程,以及飞机的运动姿态和飞行轨迹,计算飞机在不同下降速率时拉起的损失高度,设计近地告警包线。实际试飞数据验证了模型设计合理,计算结果准确。同时,将仿真计算得出的告警包线与TSO-C151b对比,给出适用于飞机的近地告警包线使用建议,保证飞机飞行安全。     

A study on the surface overpressure distribution and formation of a double curvature liner under a two-point initiation

The formation mechanism of an EFP(explosively formed projectile) using a double curvature liner under the overpressure effect generated by a regular oblique reflection was investigated in this paper.Based on the detonation wave propagation theory,the change of the incident angle of the detonation wave collision at different positions and the distribution area of the overpressure on the surface of the liner were calculated.Three-dimensional numerical simulations of the formation process of the EFP with tail as well as the ability to penetrate 45# steel were performed using LS-DYNA software,and the EFP ve-locity,the penetration ability,and the forming were assessed via experiments and x-ray photographs.The experimental results coincides with those of the simulations.Results indicate that the collision of the detonation wave was controlled to be a regular oblique reflection acting on the liner by setting the di-mensions of the unit charge and maintaining the pressure at the collision point region at more than 2.4 times the CJ detonation when the incident angle approached the critical angle.The distance from the liner midline to the boundary of the area within which the pressure ratio of the regular oblique reflection pressure to the CJ detonation pressure was greater than 2.5,2,and 1.5was approximately 0.66 mm,1.32 mm,and 3.3 mm,respectively.It is noted that pressure gradient caused the liner to turn inside out in the middle to form the head of the EFP and close the two tails of the EFP at approximately 120μs.The penetration depth of the EFP into a 45# steel target exceeded 30 mm,and there was radial expansion between the head and tail of the EFE increasing the penetration resistance of the EFP.Therefore,the structural size of the unit charge and the liner can be further optimized to reduce resistance to increase the penetration ability of the EFP.     

One-step synthesis of FeO(OH) nanoparticles by electric explosion of iron wire underwater

In this study,we investigated electric explosion of iron wire in distilled water with different energy input adjusted by charging voltage.The as-prepared samples were characterized by X-ray diffraction (XRD),scanning electron microscopy (SEM),transmission electron microscopy (TEM) and X-ray photoelectron spectroscopy (XPS),showing the presence of iron and multiple iron-based compounds oxides with contents influenced by the experimental conditions.In particular,pure FeO(OH) nanoparticles were obtained using electric explosion of iron wire with energy input of 1125 J at charging voltage of 15 kV.Analysis of discharge current and resistive voltage data indicate that the high energy input induced by strong plasma discharge at high charging voltage is a key factor to form FeO(OH).This study presents a one-step method to synthesize FeO(OH) nanoparticles using electric explosion of iron wire.     

Driving force coordinated control of an 8 ×8 in-wheel motor drive vehicle with tire-road friction coefficient identification

Because of the complexities of tire-road interaction,the wheels of a multi-wheel distributed electric drive vehicle can easily slip under certain working conditions.As wheel slip affects the dynamic per-formance and stability of the vehicle,it is crucial to control it and coordinate the driving force.With this aim,this paper presents a driving force coordination control strategy with road identification for eight-wheeled electric vehicles equipped with an in-wheel motor for each wheel.In the proposed control strategy,the road identification module estimates tire-road forces using an unscented Kalman filter al-gorithm and recognizes the road adhesion coefficient by employing the recursive least-square method.According to road identification,the optimal slip ratio under the current driving condition is obtained,and a controller based on sliding mode control with a conditional integrator uses this value for accel-eration slip regulation.The anti-slip controller obtains the adjusting torque,which is integrated with the driver-command-based feedforward control torque to implement driving force coordination control.The results of hardware-in-loop simulation show that this control strategy can accurately estimate tire-road forces as well as the friction coefficient,and thus,can effectively fulfill the purpose of driving force coordinated control under different driving conditions.     

The investigation of NTO/HMX-based plastic-bonded explosives and its safety performance

3-nitro-1,2,4-triazol-5-one (NTO) is the main component of insensitive munitions (IM) formulation because of its outstanding insensitive properties.In this paper,a series of NTO/HMX-based composite explosives were prepared and characterized.The study focuses on the effect of NTO on the performance of the formulations,especially the safety performance.The results revealed that the mechanical sensi-tivity of formulations was associated with NTO content,as well as the thermal conductivity,specific heat capacity and Arrhenius parameters.Then,the high amount of NTO using in formulation was proved to be helpful for NTO/HMX-based formulation to exhibit good thermal safety.Besides,by accelerating rate calorimeter (ARC) and a modified cook-offequipment,the pressure and pressure rise rate were proved as the important indicator for judging the thermal safety performance in confined spaces.Finally,the numerical simulation was used as a credible method for predicting the respond temperature of cook-off experiment.     

疏水性纳米TiO2制备及其在菜籽油中的摩擦磨损性能

以纳米TiO2为原料、硬脂酸为表面改性剂,通过超声反应制备了疏水性纳米TiO2（SA-TiO2）;采用扫描电子显微镜（SEM）、红外光谱仪及接触角测量仪对其微结构进行了表征。以SA-TiO2为润滑油添加剂,在四球试验机上考察了其在菜籽油中的摩擦磨损性能,并利用SEM观察钢球表面磨斑形貌,用能谱仪（EDS）和X射线光电子能谱仪（XPS）分析了钢球表面磨斑的化学成分。结果表明：SA-TiO2为疏水性单分散球状颗粒,其平均直径约为20 nm;SA-TiO2能够提高菜籽油的抗磨减摩性能,当SA-TiO2的质量分数为1%,菜籽油的抗磨减摩性能达到最佳;钢球表面磨斑的EDS和XPS分析表明,纳米微粒在钢球摩擦表面形成了一层含菜籽油和SA-TiO2的吸附膜,在摩擦剪切作用下,发生摩擦化学反应生成了一层含钛、铁氧化物的边界润滑膜,这种边界润滑膜起到了良好的润滑作用。     

Impact of reseller's and sales agent's forecasting accuracy in a multilayer supply chain

We consider a three‐layer supply chain with a manufacturer, a reseller, and a sales agent. The demand is stochastically determined by the random market condition and the sales agent's private effort level. Although the manufacturer is uninformed about the market condition, the reseller and the sales agent conduct demand forecasting and generate private demand signals. Under this framework with two levels of adverse selection intertwined with moral hazard, we study the impact of the reseller's and the sales agent's forecasting accuracy on the profitability of each member. We show that the manufacturer's profitability is convex on the reseller's forecasting accuracy. From the manufacturer's perspective, typically improving the reseller's accuracy is detrimental when the accuracy is low but is beneficial when it is high. We identify the concrete interrelation among the manufacturer‐optimal reseller's accuracy, the volatility of the market condition, and the sales agent's accuracy. Finally, the manufacturer's interest may be aligned with the reseller's when only the reseller can choose her accuracy; this alignment is never possible when both downstream players have the discretion to choose their accuracy. © 2014 Wiley Periodicals, Inc. Naval Research Logistics 61: 207–222, 2014     

The burglar problem with multiple options

We consider the burglar problem in which a burglar can either retire or choose among different types of burglaries, with each type having its own success probability and reward distribution. Some general structural results are established and, in the case of exponentially distributed reward distributions, a solution technique is presented. The burglar problem's relationship to a stochastic knapsack problem with a random exponentially distributed knapsack capacity is shown. © 2014 Wiley Periodicals, Inc. Naval Research Logistics 61: 359–364, 2014     

Return policy: Hassle‐free or your money‐back guarantee?

This article compares the profitability of two pervasively adopted return policies—money‐back guarantee and hassle‐free policies. In our model, a seller sells to consumers with heterogeneous valuations and hassle costs. Products are subject to quality risk, and product misfit can only be observed post‐purchase. While the hassle‐free policy is cost advantageous from the seller's viewpoint, a money‐back guarantee allows the seller to fine‐tune the consumer hassle on returning the product. Thus, when the two return policies lead to the same consumer behaviors, the hassle‐free policy dominates. Conversely, a money‐back guarantee can be more profitable even if on average, high‐valuation consumers experience a lower hassle cost than the low‐valuation ones. The optimal hassle cost can be higher when product quality gets improved; thus, it is not necessarily a perfect proxy or signal of the seller's quality. We further allow the seller to adopt a mixture of these policies, and identify the concrete operating regimes within which these return policies are optimal among more flexible policies. © 2014 Wiley Periodicals, Inc. Naval Research Logistics 61: 403–417, 2014