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Study on kinematical control based on fuzzy inference for underwater work system

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Study on kinematical control based on fuzzy inference for un...

EFFECT OF SLIP ORIENTATION ON STRESS RESPONSE,INTERNAL FRICTION AND ULTRASONIC ATTENUATION DURING CYCLIC DEFORMATION IN Al SINGLE CRYSTALS

2009中国控制与决策会议

作者： Lu Tang~1,Yanfu Li~2 1.shenyang University School of Information Engineering,Liaoning shenyang 110044 2.state key laboratory of robotics,chinese academy of sciences,shenyang 110016

The underwater work system(underwater robot system mounded with underwater manipulator) is a redundant *** of the different inertia characteristics of the vehicle and of the manipulator,the vehicle and manipulator motions must be coordinated and several variables must be monitored and optimized during the task *** paper presents a fuzzy inverse kinematics resolution based on the task-priority redundancy for underwater work systems. The resolution uses the task-priority redundancy method merged with a fuzzy logic based weighting scheme to introduce several secondary *** method was applied to ROVs mounded with a three-degree-of-freedom *** results from computer simulations demonstrate its effectiveness.

关键词： Underwater woke systems Kinematical Control Fuzzy Inference Underwater Robot

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Acta Metallurgica Sinica(English Letters) 1992年第6期5卷 471-476页

作者： XIA Yuebo ZHANG Tianyi state key laboratory for Fatigue and Fracture of Materials,institute of Metal Research,Academia Sinica,shenyang,chinaFEI Guangtao ZHOU Xing laboratory of Internal Friction and Defects in Solids,institute of Solid state Physics,Academia Sinica,Hefei,china Associate Professor,institute of Metal Research,Academia Sinica,shenyang 110015,china Inst of Metal Research Acad Sinica Shenyang China

The variation of cyclic stress,internal friction and ultrasonic attenuation during cyclic deformation and relations among them have been investigated with different slip orientation Al single *** results indicate that the value of cyclic stress σ,internal friction Q^(-1)and ultrasonic attenuation △α depend obviously on the slip *** are large differences in above three parameters for different slip orientation Al *** early stage of fatigue life,σ and △α increase and Q^(-1)decreases with cycles N,and △α reached maxi- mum before σ,while Q^(-1)and σ get the valley and the peak,respectively,at same cycles.

关键词： crystal orientation cyclic deformation stress response internal friction ultrasonic attenuation Al

Functions for patch test in finite element analysis of the Mindlin plate and the thin cylindrical shell

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Science china(Physics,Mechanics & Astronomy) 2009年第5期52卷 762-767页

作者： CHEN WanJi 1,2 ,WANG JinZhi 1,3 &ZHAO Jie 1 1state key laboratory for Structural Analysis of Industrial Equipment,Dalian University of Technology,Dalian 116023,china 2institute for Structural Analysis of Aerocraft,shenyang institute of Aeronautical Engineering,shenyang 110136,china 3 College of Science,institute of Dalian Nationalities,Dalian 116022,china state key laboratory for Structural Analysis of Industrial Equipment Dalian University of Technology Dalian 116023 China institute for Structural Analysis of Aerocraft Shenyang Institute of Aeronautical Engineering Shenyang 110136 China College of Science Institute of Dalian Nationalities Dalian 116022 China

Current patch test for Mindlin plate element only satisfies the zero shear deformation *** patch test of non-zero constant shear for Mindlin plate problem cannot be *** shell element, the patch test does not even *** on the theory of enhanced patch test proposed by Chen W J (2006),the authors proposed the enhanced patch test function for Mindlin plate and thin cylindrical shell *** enhanced patch test function can be used to assess the convergence of the Mindlin plate and cylindrical thin shell elements.

关键词： Mindlin plate thin cylindrical shell finite element enhanced patch test test function

Computational neuroscience in china

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Science china(Life sciences) 2010年第3期53卷 385-397页

作者： WU Si1 & LIANG PeiJi2 1institute of Neuroscience,Shanghai institutes for Biological sciences,state key laboratory of Neurobiology,chinese academy of sciences,Shanghai 200031,china 2Department of Biomedical Engineering,Shanghai Jiaotong University,Shanghai 200240,china 1. institute of Neuroscience Shanghai Institutes for Biological Sciences State Key Laboratory of Neurobiology Chinese Academy of Sciences Shanghai 200031 China2. Department of Biomedical Engineering Shanghai Jiaotong University Shanghai 200240 China

The ultimate goal of Computational Neuroscience(CNS) is to use and develop mathematical models and approaches to elucidate brain *** is a young and highly multidisciplinary *** heavily interacts with experimental neuroscience and such other research areas as artificial intelligence,robotics,computer vision,information science and machine *** paper reviews the history of CNS in china,its current status and the prospects for its future *** of CNS research in china are also presented.

关键词： computational neuroscience experimental neuroscience artificial intelligence

In Situ Synthesis of Nanocrystalline Intel-metallic Compound Layer during Surface Mechanical Attrition Treatment of Zirconium

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材料热处理学报 2004年第5期 1242-1246页

作者： SUN Cai-yun', Xffi Ji-jia ', WU Xiao-lei', HONG You-shi', LIU Gang \ LU Jian3, LU Ke2 1. state key laboratory of Nonlinear Mechanics, institute of Mechanics, chinese academy of sciences, Beijing 100080, People's Republic of china 2. shenyang National laboratory for Materials sciences, institute of Metal Research, chinese academy of sciences, shenyang 110016, People's Republic of china 3. LASMIS, University of Technical of Troyes, 10000, Troyes, France

The surface mechanical attrition treatment (SMAT) technique was developed to synthesize a nanocrystalline (NC) layer on the surface of metallic materials for upgrading their overall properties and performance. In this paper, by means of SMAT to a pure zirconium plate at the room temperature, repetitive multidirectional peening of steel shots (composition (wt%): 1C, ***, base Fe) severely deformed the surface layer. A NC surface layer consisting of the intermetallic compound FeCr was fabricated on the surface of the zirconium. The microstructure characterization of the surface layer was performed by using X-ray diffraction analysis, optical microscopy, scanning and transmission electron microscopy observations. The NC surface layer was about 25 urn thick and consisted of the intermetallic compound FeCr with an average grain size of 25±10 nm. The deformation-induced fast diffusion of Fe and Cr from the steel shots into Zr occurred during SMAT, leading to the formation of intermetallic compound. In addition, the NC surface layer exhibited an ultrahigh nanohardness of 10.2 GPa.

关键词： nanocrystalline intermetallic compound surface layer deformation diffusion

STRUCTURE AND GLASS FORMING ABILITY(GFA)OF AMORPHOUS ALLOYS

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Acta Metallurgica Sinica(English Letters) 1992年第10期5卷 245-254页

作者： LU Ke state key laboratory for RSA,institute of Metal Research Academia Sinica,shenyang,china

A new microstructure model is developed for amorphous alloys,so called Cluster medel, in which the amorphous phase is thought of composing of randomly distributed ordered clusters of different *** calculation on this model deduces a parameter describing the glass forming ability of metallic alloys:α_c=(1-2.08/Φ_m)T_g/T_m,where T_g is gass transition temperature,T_m is the melting temperature,and Φ_m is entralpy change of *** is believed that easy glass forming alloy systems have larger values of a_*** new criterion of GFA not only provides the theoretical background for several GFA criteria in the literature cited,but also can predict the GFA of many alloy systems more reasonably and accurately.

关键词： amorphous metal structure model glass forming ability(GFA),ordered cluster

INFLUENCE OF AGING ON LOW CYCLE FATIGUE BEHAVIOR IN 8090 Al-Li ALLOY

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中国有色金属学会会刊：英文版 1995年第1期5卷 80-83页

作者： Ai Suohua Wang Zhongguang Zhang Yun(state key laboratory of Fatigue and Fracture for Materials ,institute of Metal Research , Academia Sinica, shenyang 110015) Han Xinglin Wu Yaqiao (shenyang Industrial University, shenyang 110023) ACAD SINICA INST MET RESSTATE KEY LAB FATIGUE & FRACTURE MATSHENYANG 110015PEOPLES R CHINA shenyang IND UNIV SHENYANG 110023PEOPLES R CHINA

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关键词： low cycle fatigue cyclic hardening precipilate phase

The Dynamic Stability Criterion of the Wheel-based Humanoid Robot Based on ZMP Modeling

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The Dynamic Stability Criterion of the Wheel-based Humanoid ...

Corrosion of Y, Fe and Fe-15Y in H_2-H_2S Mixture under 10^(-3)Pa S_2 at 600～800℃

2009中国控制与决策会议

作者： Li Yanjie~1,Wu Zhenwei~2,Zhong Hua~2 1.College of Mechanical Engineering,shenyang Ligong University,shenyang,110168 2.state key robotics laboratory,shenyang institute of automation,chinese academy of Science,shenyang 110016

＜正＞The concept of ZMP was *** iterative ZMP computational method combining the effective Newton-Euler Algorithm with the concept of ZMP was *** method has clear physical interpretation,lower computation complexity,is easy to program and *** ZMP model of the wheel-based humanoid robot was built using the iterative ZMP computational *** simplified ZMP computational equation of the wheel-based humanoid robot was *** the dynamic stability criterion and the stability degree of the humanoid robot were defined.

关键词： Zero Moment Point Humanoid Robot Dynamic Stability Criterion

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Journal of Materials Science & Technology 1996年第5期12卷 321-328页

作者： Yan NIU Weitao WU and Chaoliu ZENG (state key Lab. for Corrosion and Protection, institute of Corrosion and Protection of Metals,chinese academy of sciences, shenyang 110015, china)F. Gesmundo and F. Viani (Instituto di Chimica, Facolta di Ingegneria, Un state key Lab. for Corrosion and Protection Institute of Corrosion and Protection of Metals Chinese Academy of Sciences Shenyang 110015 China Instituto di Chimica Facolta di Ingegneria Universita di Genova Fiera del Mare. Pad. D 16129 Genova Italy

The corrosion of an Fe-based alloy containing 15 wt pct Y in H2-H2S mixtures under 10-3 Pa S2 was studied at 600~800℃ in an attempt to find materials with improved sulphidation resistance with respect to pure Fe. The presence of Y has been shown to be beneflcial, but not sufficient to the level expected. In fact, the alloy is able to form at all tested temperatures an external FeS layer, beneath which a zone containing a mixture of the two sulphides is also present. Thus,Fe can still diffuse through this region to form the outer FeS layer with non-negligible rate. The corrosion rate of Fe is considerably reduced by the Y addition. but the alloy corrodes still much more rapidly than Y. The sulphidation kinetics is generally rather irregular for both the pure metals, while the corrosion rate of the alloy decreases with time and tends to become parabolic after an initial period of 12~17 h. The sulphidation behaviour of the alloys is discussed by taking into account the presence of an intermetallic compound Fe17Y2 and the limited solubility of Y in Fe

关键词： Fe and Fe-15Y in H2-H2S Mixture under 10 Met OO Pa S2 at 600 Corrosion of Y