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Task-Oriented Topology System Synthesis of Reconfigurable Legged Mobile Lander Integrating Active and Passive Metamorphoses

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Chinese Journal of Mechanical Engineering 2023年第3期36卷 89-109页

作者： youcheng han Ziyue Li Gaohan Zhu Weizhong Guo Jianzhong Yang Wei Liu State Key Lab of Mechanical System and Vibration School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China Beijing Institute of Spacecraft System Engineering Beijing 100094China

To explore hostile extraterrestrial landforms and construct an engineering prototype,this paper presents the task-oriented topology system synthesis of reconfigurable legged mobile lander(ReLML)with three operation modes from adjusting,landing,to *** with our preceding works,the adjusting mode with three rotations(3R)provides a totally novel exploration approach to geometrically matching and securely arriving at complex terrains dangerous to visit currently;the landing mode is redefined by two rotations one translation(2R1T),identical with the tried-and-tested Apollo and Chang'E landers to enhance survivability via reasonable touchdown buffering motion;roving mode also utilizes 2R1T motion for good motion and force *** reconfigurable mechanism theory is first brought into synthesizing legged mobile lander integrating active and passive metamorphoses,composed of two types of metamorphic joints and metamorphic execution and transmission *** reveal metamorphic principles with multiple finite motions,the finite screw theory is developed to present the procedure from unified mathematical representation,modes and source phase derivations,metamorphic joint and limb design,to final structure *** identify the prototype topology,the 3D optimal selection matrix method is proposed considering three operation modes,five evaluation criteria,and two topological ***,simulation verifies the whole task implementation process to ensure the reasonability of design.

关键词： Legged mobile lander Topology synthesis Active and passive metamorphoses Finite screw Metamorphic joint Reconfigurable mechanism

Space truss construction modeling based on on-orbit assembly motion feature

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Chinese Journal of Aeronautics 2024年第3期37卷 365-379页

作者： Changjie ZHAO Weizhong GUO Meng CHEN Jiaxing HU youcheng han Rongfu LIN State Key Lab of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghai 200240China Institute of Aerospace System Engineering Shanghai Shanghai 201109China

More space truss construction has been planned to develop and utilize space *** trusses are designed in the way of large-scale,complex,modular,and on-orbit *** meet the upcoming challenge of large-scale space infrastructure construction,it is necessary to study space truss automation design and robotic *** paper proposes an ordinal finite screw adjacency matrix model(OFSAMM),focusing on the relationship between assembly motions,to express and compute a space truss *** this model,a space truss is abstracted as a set of ordered assembly motions,each of which is recorded as a finite screw as the basic element of the truss and its *** operation of truss transformation is also derived under this ***,the truss configuration,the assembly sequence,the truss sub-assembly,the truss components,and the on-orbit assembly task can be expressed and calculated in a unified model,which is calculated and stores the truss topology and assembly with the minimum storage *** the end of this paper,we introduce how to synthesize and optimize space truss design through two *** study will help to improve design ***,it provides a theoretical basis for the automatic construction of space truss structures,especially in the next stage.

关键词： Adjacency matrix Finite screw On-orbit construction modeling Space applications Space trusses Topology design

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宁夏原州区禅塔山石窟调查报告

敦煌研究 2015年第3期 11-15页

作者：韩有成须弥山石窟文物管理所宁夏固原756003

位于宁夏固原市原州区境内的禅塔山石窟开凿于北魏,与须弥山石窟存在一定的承袭关系,是丝绸之路东段北道上一处重要的文化遗产。特别是在洞窟的组合结构以及功用上受到了龟兹地区石窟的影响。该石窟的发现对研究佛教东传和中西文化的交... 详细信息

位于宁夏固原市原州区境内的禅塔山石窟开凿于北魏,与须弥山石窟存在一定的承袭关系,是丝绸之路东段北道上一处重要的文化遗产。特别是在洞窟的组合结构以及功用上受到了龟兹地区石窟的影响。该石窟的发现对研究佛教东传和中西文化的交流融合有所助益。

关键词：禅塔山石窟调查报告组合结构

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宁夏须弥山北周洞窟建筑及造像探析

文物春秋 2006年第5期 23-28页

作者：韩有成须弥山石窟文物管理所宁夏固原756003

须弥山北周洞窟是我国石窟艺术史上一个重要的时代,其洞窟建筑形式大致可分为中心柱窟、方形禅窟及僧房窟三种类型,造像风格与北魏相比有了明显的变化,雕刻手法纯熟,形式变化多样,表现手法趋于写实。须弥山北周洞窟的形成与地方官吏的... 详细信息

须弥山北周洞窟是我国石窟艺术史上一个重要的时代,其洞窟建筑形式大致可分为中心柱窟、方形禅窟及僧房窟三种类型,造像风格与北魏相比有了明显的变化,雕刻手法纯熟,形式变化多样,表现手法趋于写实。须弥山北周洞窟的形成与地方官吏的大力支持有着很大的关系,同时也受到来自麦积山、巩县石窟的影响,并融合了北齐石窟的特点,直接反映了北周时期都城长安新型造像的特点。

关键词：宁夏固原北周须弥山石窟窟龛形制造像特点

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须弥山桃花洞石窟初探

固原师专学报 2001年第4期22卷 62-65页

作者：韩有成须弥山石窟文物管理所宁夏固原756003

须弥山桃花洞石窟,开凿完成于唐广德年间。该窟由主室、前室及四个附窟构成,规模大,雕造精,形制独特,是一次建成、保存较为完好的中心柱窟,为各地唐窟所不多见,是本地区乃至全国各地同类石窟中最为珍贵的典型窟例。

关键词：桃花洞石窟形制须弥山唐代洞窟中心柱窟前室主室

固原北魏及唐代石雕、金铜佛教造像的发现与价值

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固原师专学报 2006年第4期27卷 84-86页

作者：李玉芳韩有成须弥山石窟文物管理所宁夏固原756003

固原佛教文物的考古发现始于20世纪80年代。迄今为止,已经发现了一大批北朝及唐代时期的石雕、金铜佛教造像,充分证明了北朝及唐代本地区的佛教盛况,同时也为研究本地区乃至我国南北朝及唐代佛教和佛教艺术提供了宝贵的实物资料。

关键词：固原北魏唐代佛教造像发现价值

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腿式移动着陆器的运动学建模和运动规划

集成技术 2022年第6期11卷 23-35页

作者：李子岳郭为忠韩有承上海交通大学机械与动力工程学院上海201100

着陆器是深空软着陆探测的核心装备,但现有着陆器不具备行走移位功能,一次发射任务探测范围有限。针对上述问题,该文研究了一种集着陆和行走移位功能于一体的腿式移动着陆器,建立腿式移动着陆器单腿的完整运动学模型,并阐述其工作模式... 详细信息

着陆器是深空软着陆探测的核心装备,但现有着陆器不具备行走移位功能,一次发射任务探测范围有限。针对上述问题,该文研究了一种集着陆和行走移位功能于一体的腿式移动着陆器,建立腿式移动着陆器单腿的完整运动学模型,并阐述其工作模式。针对星体表面的复杂环境,提出一种周期步态和自由步态的规划方法,解决了稳定判据、落足点评价函数和足端轨迹规划等问题。此外,该文还通过仿真实验,验证了该方法的可行性和稳定性。

关键词：腿式移动着陆器运动学建模步态规划轨迹规划

Preparation and applications of calcium ferrite as a functional material:A review

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International Journal of Minerals,Metallurgy and Materials 2025年第2期32卷 292-310页

作者： Xiuli han Bowen Duan Lei Liu Shilong Fang Weiwei Wang College of Mining Engineering North China University of Science and TechnologyTangshan 063210China Collaborative Innovation Center of Green Development and Ecological Restoration of Mineral Resources of Hebei Province Tangshan 063210China Key Laboratory of Mining Development and Security Technology of Hebei Province Tangshan 063210China

Calcium ferrite(CF)is recognized as a potential green and efficient functional material because of its advantages of magnetism,electrochemistry,catalysis,and biocompatibility in the fields of materials chemistry,environmental engineering,and ***-fore,the obtained research results need to be systematically summarized,and new perspectives on CF and its composite materials need to be *** on the presented studies of CF and its composite materials,the types and structures of the crystal are *** addition,the current application technologies and theoretical mechanisms with various properties in different fields are ***,the various preparation methods of CF and its composite materials are elaborated in *** importantly,the advantages and disadvantages of the synthesis methods of CF and its composite materials are discussed,and the existing problems and emerging challenges in practical production are ***,the key future research directions of CF and its composite materials have been prospected from the potential application technologies to provide references for its synthesis and efficient utilization.

关键词： calcium ferrite mineral functional materials preparation application perspectives

Microstructural evolution during the progressive transformation-induced plasticity effect in a Fe-0.1C-5Mnmedium manganese steel

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International Journal of Minerals,Metallurgy and Materials 2025年第2期32卷 369-379页

作者： Mei Zhang Wenhao Li Yangfei Chen Yang Jiang Xiaofei Guo han Dong School of Materials Science and Engineering Shanghai UniversityShanghai 200444China State Key Laboratory of Advanced Special Steel Shanghai UniversityShanghai 200444China

The microstructural evolution of a cold-rolled and intercritical annealed medium-Mn steel(Fe-0.10C-5Mn)was investigated during uniaxial tensile ***-situ observations under scanning electron microscopy,transmission electron microscopy,and X-ray diffraction analysis were conducted to characterize the progressive transformation-induced plasticity process and associated fracture initiation *** findings were discussed with the local strain measurements via digital image *** results indicated that Lüders band formation in the steel was limited to 1.5%strain,which was mainly due to the early-stage martensitic phase transformation of a very small amount of the less stable large-sized retained austenite(RA),which led to localized stress concentrations and strain hardening and further retardation of *** small-sized RA exhibited high stability and progressively transformed into martensite and contributed to a stably extended Portevin-Le Chatelier *** volume fraction of RA gradually decreased from 26.8%to 8.2%prior to *** the late deformation stage,fracture initiation primarily occurred at the austenite/martensite and ferrite/martensite interfaces and the ferrite phase.

关键词： medium-Mn steel retained austenite progressive transformation-induced plasticity effect local strain fracture initiation