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运行时间周期化工业机器人模型迭代寻优NURBS轨迹插补

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控制理论与应用 2024年第2期41卷 331-341页

作者：杨博涵邢燕好张佳张华良张建鹏沈阳工业大学信息科学与工程学院辽宁沈阳110870 中国科学院网络化控制系统重点实验室辽宁沈阳110016 中国科学院沈阳自动化研究所辽宁沈阳110016 中国科学院机器人与智能制造创新研究院辽宁沈阳110169 西北工业集团有限公司陕西西安710043

为满足工业机器人高精度复杂曲线运动的需求,本文提出运行时间周期化工业机器人模型迭代寻优NURBS轨迹插补算法.首先,根据轨迹最大轮廓误差和机器人动力学特性对曲线分段.随后,提出优化回溯算法,使各子曲线段均可用S曲线加减速规划.之后... 详细信息

为满足工业机器人高精度复杂曲线运动的需求,本文提出运行时间周期化工业机器人模型迭代寻优NURBS轨迹插补算法.首先,根据轨迹最大轮廓误差和机器人动力学特性对曲线分段.随后,提出优化回溯算法,使各子曲线段均可用S曲线加减速规划.之后,为保证机器人在进给速度极小值处不超速,将各加减速阶段运行时间调整为插补周期的整数倍,并对子曲线段衔接处速度平滑处理.最后,提出模型迭代寻优曲线插补,大大降低了速度波动率.仿真试验表明,该方法插补轨迹的各项指标均满足要求且最大速度波动率仅为0.000099%.真机试验也验证了该方法可有效减小轨迹误差.

关键词：工业机器人 NURBS曲线运行时间周期化优化回溯算法模型迭代寻优

Research on the Asymmetric Effect of Fixed-Asset Investment on China's Primary Energy Production in the Context of Energy Transformation

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Journal of Systems Science & Complexity 2024年第3期37卷 1163-1183页

作者： CHAI jian HE peng zhang Xiaokong HOU Yamin School of Economics and Management Xidian UniversityXi'an 710126China

Under China’s“Dual Carbon”target(DCT),“clean replacement”on the energy supply side and“electric energy replacement”on the energy consumption side are the ways to achieve energy ***,energy projects have a long construction period,complex technology categories,and investment risks that greatly affect the development of energy *** judging the effect of investment changes on primary energy production is of great practical significance to the realization of the *** on this,NARDL and TVP-SV-VAR models are innovatively used to reveal the nonlinear effect of fixed-asset investment on China’s primary energy *** results show that the marginal effect of investment growth on coal production is about 1.44 times that of investment ***,the marginal effect of oil and gas investment growth is about 1.21times that of investment *** to the influence of resource constraints,China’s traditional fossil energy still has varying degrees of path dependence on the investment-driven development *** non-fossil energy,investment in hydropower and nuclear power has an inverse correlation with the change in *** marginal efficiency and diseconomies of scale have hindered the development of the hydropower and nuclear power *** addition,the asymmetric effect is not yet significant for the short development time and technical constraints of wind and solar *** the impulse response results,the impact curves of investment in wind and solar power are generally positive,and investment has different degrees of time-delay and time-varying effects on various energy production,which verifies the heterogeneity of investment adjustment mechanisms in different energy industries.

关键词： "Dual Carbon"target fixed-asset investment primary energy NARDL nonlinearity

Optimization Mechanism of Mechanical Properties of Basalt Fiber-Epoxy Resin Composites by Interfacially Enriched Distribution of Nano-Starch Crystals

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Chinese Journal of Mechanical Engineering 2024年第3期37卷 289-296页

作者： Yanpeng Wei Jiale Zhao jian Zhuang peng zhang Zhiwu Han College of Biological and Agricultural Engineering Jilin UniversityChangchun 130025China Key Laboratory of Bionics Engineering Ministry of EducationJilin UniversityChangchun 130025China Weichai Lovol Heavy Industry Co. LTDWeifang 261031China

Fibre reinforced polymer composites have become a new generation of structural materials due to their unique advantages such as high specific strength,designability,good dimensional stability and ease of large-area monolithic ***,the problem of interfacial bonding between the resin matrix and the fibres limits the direct use of reinforcing fibres and has become a central difficulty in the development of basalt fibre-epoxy *** paper proposes a solution for enhancing the strength of the fibre-resin interface using maize starch nanocrystals,which are highly yield and ***,in this paper,corn starch nanocrystals(SNC)were prepared by hydrolysis,and were deposited on the surface of basalt fibers by electrostatic *** that,in order to maximize the modification effect of nano-starch crystals on the interface,the basalt fiber-epoxy resin composite samples were prepared by mixing in a pressureless molding *** test results shown that the addition of basalt fibers alone led to a reduction in the strength of the *** of 0.1 wt%SNC on the surface of basalt fibers can make the strength consistent with pure epoxy *** the adsorption amount of SNC reached 0.5 wt%,the tensile strength of the samples was 23.7%higher than that of pure epoxy *** is due to the formation of ether bond homopolymers between the SNC at the fibre-epoxy interface and the epoxy resin,which distorts the originally smooth interface,leading to increased stress concentration and the development of *** enhances the binding of basalt *** conclusions of this paper can provide an effective,simple,low-cost and non-polluting method of interfacial enhancement modification.

关键词： Basalt fibres Epoxy resin Fibre reinforced composites Starch nanocrystals Eco-friendly

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伊犁黄土水分入渗规律试验研究

地下水 2024年第3期46卷 119-122页

作者：弋鹏飞张建鹏马瑞马奭文李永发伊犁师范大学物理科学与技术学院新疆伊宁835000 河海大学水利水电学院江苏南京210098

为了了解伊犁黄土水分入渗规律,在伊宁市北岸干渠边坡采样,进行了一维土柱积水入渗、变水头测定黄土渗透系数试验。结果表明,黄土湿润锋前进距离、累积入渗量随时间呈幂函数递增关系,入渗率随时间呈幂函数递减关系,用Kostiakov公式建立... 详细信息

为了了解伊犁黄土水分入渗规律,在伊宁市北岸干渠边坡采样,进行了一维土柱积水入渗、变水头测定黄土渗透系数试验。结果表明,黄土湿润锋前进距离、累积入渗量随时间呈幂函数递增关系,入渗率随时间呈幂函数递减关系,用Kostiakov公式建立了伊犁黄土入渗模型。随着黄土干密度增大,累积入渗量加大,湿润锋运移速率减弱,到达渗透阶段时间延长,入渗率减小且逐渐趋于稳定,干密度较大的黄土稳渗率较小。采用TST-55型渗透仪通过变水头试验得到了伊宁市北岸干渠黄土饱和渗透系数在2.25×10^(-4)~2.32×10^(-5)cm/s,拟合了干密度与饱和渗透系数的关系式,表明干密度与饱和渗透系数呈负指数函数关系。

关键词：伊犁黄土入渗率干密度饱和渗透系数

Multi-objective optimization and evaluation of supercritical CO_(2) Brayton cycle for nuclear power generation

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Nuclear Science and Techniques 2024年第2期35卷 183-209页

作者： Guo-peng Yu Yong-Feng Cheng Na zhang Ping-jian Ming Sino-French Institute of Nuclear Engineering and Technology Sun Yat-Sen UniversityZhuhai 519082China School of Civil Engineering and Architecture East China Jiaotong UniversityNanchang 330013China

The supercritical CO_(2) Brayton cycle is considered a promising energy conversion system for Generation IV reactors for its simple layout,compact structure,and high cycle *** models of four Brayton cycle layouts are developed in this study for different reactors to reduce the cost and increase the thermohydraulic performance of nuclear power generation to promote the commercialization of nuclear *** analysis,multi-objective optimizations,and four decision-making methods are applied to obtain each Brayton scheme’s optimal thermohydraulic and economic *** show that for the same design thermal power scale of reactors,the higher the core’s exit temperature,the better the Brayton cycle’s thermo-economic *** the four-cycle layouts,the recompression cycle(RC)has the best overall performance,followed by the simple recuperation cycle(SR)and the intercooling cycle(IC),and the worst is the reheating cycle(RH).However,RH has the lowest total cost of investment(C_(tot))of$1619.85 million,and IC has the lowest levelized cost of energy(LCOE)of 0.012$/(kWh).The nuclear Brayton cycle system’s overall performance has been improved due to *** performance of the molten salt reactor combined with the intercooling cycle(MSR-IC)scheme has the greatest improvement,with the net output power(W_(net)),thermal efficiencyη_(t),and exergy efficiency(η_(e))improved by 8.58%,8.58%,and 11.21%,*** performance of the lead-cooled fast reactor combined with the simple recuperation cycle scheme was optimized to increase C_(tot) by 27.78%.In comparison,the internal rate of return(IRR)increased by only 7.8%,which is not friendly to investors with limited *** the nuclear Brayton cycle,the molten salt reactor combined with the recompression cycle scheme should receive priority,and the gas-cooled fast reactor combined with the reheating cycle scheme should be considered carefully.

关键词： Supercritical CO_(2)Brayton cycle Nuclear power generation Thermo-economic analysis Multi-objective optimization Decision-making methods

Effects of cooling rate on microstructure and microhardness of directionally solidified Galvalume alloy

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China Foundry 2024年第3期21卷 213-220页

作者： Ji-peng Li De-gao Qiao jian Li Xiao-yang Luo peng peng Xian-tao Yan Xu-dong zhang Gansu Jiu Steel Group Hongxing Iron and Steel Co. Ltd.Jiayuguan 735111GansuChina School of Materials and Energy Lanzhou UniversityLanzhou 730000China

The influences of cooling rate on the phase constitution,microstructural length scale,and microhardness of directionally solidified Galvalume(Zn-55Al-1.6Si)alloy were investigated by directional solidification experiments at different withdrawal speeds(5,10,20,50,100,200,and 400μm·s^(-1)).The results show that the microstructure of directionally solidified Galvalume alloys is composed of primary Al dendrites,Si-rich phase and(Zn-Al-Si)ternary eutectics at the withdrawal speed ranging from 5 to 400μm·s^(-1).As the withdrawal speed increases,the segregation of Si element intensifies,resulting in an increase in the area fraction of the Si-rich *** addition,the primary Al dendrites show significant refinement with an increase in the withdrawal *** relationship between the primary dendrite arm spacing(λ_(1))and the thermal parameters of solidification is obtained:λ_(1)=127.3V^(-0.31).Moreover,as the withdrawal speed increases from 5 to 400μm·s^(-1),the microhardness of the alloy increases from 90 HV to 151 *** is a combined effect of grain refinement and second-phase strengthening.

关键词： Galvalume alloy directional solidification microstructure length scale microhardness

A STUDY ON THE RELATION BETWEEN THE VARIATION OF THE PRECIPITATION IN EASTERN jianGHUAI WATERSHED AND SEDIMENT TRANSPORT IN CHIHE RIVER VALLEY

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Chinese Geographical Science 2002年第1期12卷 44-49页

作者： zhang jian chun, peng Pu zhuo(Department of Urban and Resources Sciences,Nanjing University,Nanjing 210093,P.R.China ) Department of Urban and Resources Sciences Nanjing University Nanjing P. R. China

Rainfall resource is very important to the development of society and economy,especially to eastern jianghuai watershed which is now facing serious challenge of water shortage. Based on the observational records covering the period from 1957 to 1999,the characteristics of precipitation changing over eastern jiangHuai watershed and its connection to sediment discharge in Chihe River valley were studied using tendency analysis and correlation analysis .Results show that the rainfall in this area had a declining tendency in Spring at a rate of -21.2mm/10a, annual and Summer precipitation was increasing at the rate of 10.6mm/10a and 14.8mm/10a. The gray correlation analysis shows that sediment discharge correlates most closely with runoffs and the frequency of the rainstorm with a daily precipitation of 50-100mm, on the second place,with the rainfall and the frequency of the rainstorm of a daily precipitation no less than 100mm;and thirdly with the number of rainy days. In addition, the paper suggests the major countermeasures and methods for controlling of soil and water losses in this area.

关键词： eastern jianghuai watershed Chihe River rainfall sediment discharge correlation grade

CD209 signaling pathway as a biomarker for cisplatin chemotherapy response in small cell lung cancer

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Genes & Diseases 2024年第3期11卷 11-14页

作者： Anqi Lin Hong Yang jian zhang peng Luo Department of Oncology Zhujiang HospitalSouthern Medical UniversityGuangzhouGuangdong 510282China The First Clinical Medical School Southern Medical UniversityGuangzhouGuangdong 510515China

One of the bottlenecks in the clinical treatment of small cell lung cancer(SCLC)is its susceptibility to multidrug *** SCLC is sensitive to platinum-based chemotherapy at the initial stage of treatment,it can rapidly become drug-resistant,allowing tumor growth to accelerate.A significant decrease in drug sensitivity after recurrence and multidrug resistance can seriously interfere with the effectiveness of treatment,making sensitivity maintenance one of the urgent challenges to be ***,discovering prognostic markers for cisplatin chemotherapy and understanding the mechanisms of cisplatin resistance have great practical significance for improving the outcomes of sCLC patients.

关键词： cisplatin chemotherapy lung

Analysis of mechanical strengths of extreme line casing joint considering geometric, material, and contact nonlinearities

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Petroleum Science 2024年第3期21卷 1992-2004页

作者： Ji-Yun zhang Chi peng jian-Hong Fu Quan Cao Yu Su jian-Yun Pang Zi-Qiang Yu Petroleum Engineering School Southwest Petroleum UniversityChengdu610500SichuanChina Engineering Technology Research Institute of CNPC Southwest Oil and Gas Field Company Chengdu610017SichuanChina

To address the challenges associated with difficult casing running,limited annular space,and poor cementing quality in the completion of ultra-deep wells,the extreme line casing offers an effective solution over conventional ***,due to its smaller size,the joint strength of extreme line casing is reduced,which may cause failure when running in the *** address this issue,this study focuses on the CST-ZTΦ139.7 mm×7.72 mm extreme line casing and employs the elastic-plastic mechanics to establish a comprehensive analysis of the casing joint,taking into account the influence of geometric and material nonlinearities.A finite element model is developed to analyze the forces and deformations of the extreme line casing joint under axial tension and external collapse *** model investigates the stress distribution of each thread tooth subjected to various tensile forces and external ***,the tensile strength and crushing strength of the extreme line casing joint are determined through both analytical and experimental *** findings reveal that,under axial tensile load,the bearing surface of each thread tooth experiences uneven stress,with relatively high equivalent stress at the root of each thread *** end thread teeth are valuable spots for *** is observed that the critical fracture axial load of thread decreases linearly with the increase of thread tooth *** external pressure,the circumferential stress is highest at the small end of the external thread,leading to yield *** tensile strength of the joint obtained from the finite element model exhibits a relative error of less than 7%compared to the analytical and experimental values,proving the reliability of the finite element *** tensile strength of the joint is 3091.9 k ***,in terms of anti-collapse capability,the joints demonstrate higher resistance to collapse compared to the casing body,which is consistent with the test resul

关键词： Extreme line casing Elastic-plastic mechanics Finite element analysis Tensile strength Collapse strength