液压四足机器人的实时分散解耦控制

针对液压驱动四足机器人单腿协调性难以保证的问题,开发了一种实时分散解耦控制系统：基于PC-Based控制系统架构,在RTX环境下模块化了实时控制子任务,并对多任务的处理进行了实时调度,搭建出了机器人的实时分散控制系统框架;针对单腿系统设计了基于PID神经元网络的广义解耦控制算法,并将其嵌入到整体程序框架中,实现了多腿联动的分散解耦控制。物理样机实验表明开发的控制系统能够满足分散解耦控制算法的实时性要求,提高了四足机器人运动的协调性,进而保证其连续稳定地行走,具有一定的独创性与实用价值。     

SURFACE MODIFICATION AND DISPERSION OF NANODIAMOND IN CLEAN OIL

The effect of different kinds of surfactants on the size distribution of nanodiamond particles in clean oil was studied.Results show that the dispersing stability of nanodiamond modified with surfactangts YS-1 and SB-18 simulta-neously is much better than those modified with either of them because of synergism of the surfactangts.And the particle size distribution in the system can be improved remarkably after the adoption of hyperdispersants such as SA-E and SA-F.Anchoring groups of those hyperdispersants can be bonded with the particle surface by chemical and/or hydrogen bonding and their soluble chains are well compatible with the dispersion media.As a result,the particles are uniformly distrbuted in the system owing to the steric stabilization.A very stable clean-oil based nanodiamond suspension with an average particle size of around 53.2 nm was prepared.     

机翼全尺寸延寿试验及可靠性分析

机翼全尺寸疲劳试验是老龄飞机延寿的科学依据。本文介绍了疲劳裂纹形成和扩展寿命的分散系数，以及可靠度和标准差的选取。针对延寿的可靠性分析，提出按疲劳／损伤容限设计概念或当量裂纹扩展寿命方法，以及机翼串联模型，确定整机延寿使用寿命的技术途径。最后给出应用实例。     

纤维树脂界面剪切强度及纤维强度分布参数的实验测定

界面剪切强度及纤维强度分布参数是复合材料设计及应用研究中的重要参数，本文采用单纤维段埋入法测定了上述两个参数。通过实验研究说明了单纤维段埋入法是一种测定界面剪切强度及纤维强度分布参数的有效的实验方法；同时证实了基体的力学性能对界面剪切强度有着重要的影响。全部实验在自制的实验系统上完成     

非线性单自由度振动系统物理参数的两种辨识方法

本文讨论两种辨识非一单自由度振动系统物理参数的方法，基于描述函数概念的特参数法和由系统时域输入输出信息辨识系统参数的直接时域法。将这两种方法应用于几类非线性背地里自由度振动系统物理参数辨识，并进行了计算机仿真及直接时域法的实验。结果证明了这两种方法的有效性，还提出了对等 参数法的一种改进措施，将 成会考虑在内，以提高辨识精度。     

单层MoS2悬浊液的制备及其摩擦学行为研究

用插层法制备了单层MoS2在水中的悬浊液，采用X射线衍射仪、透射电子显微镜以及扫描电子显微镜表征了单层MoS2的结构，用四球长时摩擦磨损试验机考察了单层MoS2在水中的悬浊液的摩擦学行为．结果表明：MoS2经剥层一重堆过程处理后形成单层MoS2，单层MoS2在水中以单片或者多片重叠形式存在，其间距由0．615nm增大为0．622nm；所合成的单层MoS2悬浊液在一定添加量范围内表现出良好的减摩能力．这是因为其在钢球磨损表面生成含FeS的保护膜，而保护膜的剪切强度较低，因而表现出良好的减摩性能，但活性元素S易导致钢的过度腐蚀而使抗磨性能反而变差．     

ASYMPTOTIC NON-STABILITY AND BLOW-UP AT BOUNDARY FOR SOLUTIONS OF A FILTRATION EQUATION

For a class of nonlinear filtration equation with nonlinear second-third boundary value condition, it is shown that a priori boundary of the solution can be estimated and controlled by initial data and integral on the boundary of the region. The priori estimate of the solutions was established by iterative method. By using this estimate the solutions may blow-up on the boundary of the region and thus it may have asymptotic non-stability.     

ANALYSIS OF THE LOCALIZATION OF DAMAGE AND THE COMPLETE STRESS-STRAIN RELATION FOR MESOSCOPIC HETEROGENEOUS ROCK UNDER UNIAXIAL TENSILE LOADING

The mechanical behavior of rock under uniaxial tensile loading is different from that of rock under compressive loads. A micromechanics-based model was proposed for mesoscopic heterogeneous brittle rock undergoing irreversible changes of their microscopic structures due to microcrack growth. The complete stress-strain relation including linear elasticity, nonlinear hardening, rapid stress drop and strain softening was obtained. The influence of all microcracks with different sizes and orientations were introduced into the constitutive relation by using the probability density function describing the distribution of orientations and the probability density function describing the distribution of sizes. The influence of Weibull distribution describing the distribution of orientations and Rayleigh function describing the distribution of sizes on the constitutive relation were researched. Theoretical predictions have shown to be consistent with the experimental results.     

圆柱壳大开孔问题——单圆孔的理论解

从Ｄｏｎｎｅｌｌ圆柱壳方程出发，利用复变函数与保角映射的方法，将圆柱壳展开面上的开孔边界线保角晨射成单位圆，并在映射平面上给出了逼近大开孔圆柱壳方程解答的完备函数逼近序列，进而利用边界条件和正交函数展开的方法得到了自由孔边应力集中系数的表达式，最后，对具有开孔率的圆柱壳在不同荷载条件下的自由孔口边界上的应力集中的系数进行了计算，此种方法，同时研究圆柱壳开非圆大孔和接管等问题提供了可能性。     

On decentralized stabilization of linear large scale systems with symmetric circulant structure

The decentralized stabilization of continuous and discrete linear large scale systems with symmetric circulant structure was studied. A few sufficient conditions on decentralized stabilization of such systems were proposed. For the continuous systems, by introducing a concept called the magnitude of interconnected structure, a very important property that the decentralized stabilization of such systems is fully determined by the structure of each isolated subsystem that is obtained when the magnitude of interconnected structure of the overall system is given. So the decentralized stabilization of such systems can be got by only appropriately designing or modifying the structure of each isolated subsystem, no matter how complicated the interconnected structure of the overall system is. A algorithm for obtaining decentralized state feedback to stabilize the overall system is given. The discrete systems were also discussed. The results show that there is a great dfference on decentralized stabilization between continuous case and discrete case.