机器人通过奇点的运动学逆问题的数值解法

机器人在完成其规划动作时,常可能要通过其运动链的奇点,这时求解其运动学逆问题的通用算法遇到本质的困难,本文给出了一种算法,它可以成功地克服这个困难。文中还给出了计算实例。     

Critical Reynolds number in plasma flows on a stabilized plasmatron section

A technique for determining the criterion of transition from the laminar to the turbulent flow regime on a stabilized plasmatron channel section is proposed. The technique uses experimental data and the methods of numerical simulation of plasma flows. A criterial generalization of the experimental data which for the first time makes it possible to establish the boundary of transition from the laminar to the turbulent flow regime on a stabilized plasmatron channel section is proposed. The experimental results are in good agreement with the theoretical dependences derived in the study. A curve (analog of the neutral curve) separating the domains of existence of laminar and turbulent plasma flows in a cylindrical channel is constructed in the space of the plasmatron working parameters.Translated from Izvestiya Rossiiskoi Academii Nauk, Mekhanika Zhidkosti i Gaza, No. 5, 2004, pp. 49–61. Original Russian Text Copyright © 2004 by Sinkevich and Chikunov.     

通气法控制超空泡流动的实验研究

在高速水洞中运用人工通气方法进行了航行体模型超空泡形态特性的系列实验研究.获得了不同通气流量、不同空化数和不同弗鲁德数下的空泡形态,建立了以弗鲁德数为参数的空泡几何特征参数与空化数的对应关系、空化数与通气流量系数之间的对应关系.验证了空化数是决定空泡尺度的主要无因次参数,通过改变通气流量可以有效地调控空化数,进而达到控制空泡形态的目的.文中同时给出了通气流量系数的实验曲线拟合公式,并与国外的相关实验和公式进行了比较,两者基本一致.所得结论对进一步的水下超高速航行体空泡形态控制技术研究具有参考价值.     

充分发展湍流场中Pr数对被动标量输运的影响

采用直接数值模拟方法,研究壁湍流中分子Pr数对湍流被动标量输运的影响.发现在槽道湍流的外层,湍流雷诺平均普朗特数PrT与分子普朗特数的倒数呈线性关系;湍流亚格子普朗特数PrT与分子普朗特数的关系较为复杂,在分子普朗特数为1附近时,湍流亚格子Prt数出现极小值.     

The effects of forced boundary conditions on flow within a cubic cavity using digital particle image thermometry and velocimetry (DPITV)

Buoyancy-driven convection within a cavity, whose sidewalls are heated and cooled, is a problem of great interest, because it has applications in heat transfer and mixing. Most studies to date have studied one of two cases: the steady-state case or the development of the transient flow as it approaches steady state. Our main concern was to study the response of the cavity to time-varying thermal boundary conditions. We therefore decided to observe the flow phenomena within a convection cavity under sinusoidal thermal forcing of the sidewalls. To map the flow properly, it is necessary to have simultaneous kinematic and thermal information. Therefore, the digital particle image thermometry and velocimetry (DPITV) is used to acquire data. Implementing this technique requires seeding the flow with encapsulated liquid crystal particles and illuminating a cross section of the flow with a sheet of white light. Extraction of the thermal and kinematic content is in two parts. For the first, the liquid crystals will reflect different colors of the visible spectrum, depending on the temperatures to which they are subjected. Therefore, calibrating their color reflection with temperature allows for the extraction of the thermal content. For the second part, the kinematic information is obtained through the use of a digital cross-correlation particle image velocimetry technique. With the use of DPITV, the flow within a convection cavity is mapped and studied under steady forcing and sinusoidally forced boundary conditions at the Brunt-Väisälä frequency. For the sinusoidally forced case, three cases are studied. In the first, the heating between the two walls is in phase. In the second, the heating between the two walls is 180° out of phase. In the third, the heating between the two walls is 90° out of phase. For steady forcing, the thermal plots show that the flow develops a linearly stratified profile within the center of the cell. At the sidewalls, however, owing to forcing, hot/cold thermal boundary layers develop at the left/right walls. These hot/cold thermal boundary layers then turn around the upper-left/lower-right corners and develop into intrusion layers that extend across the top and bottom walls. The vorticity and streamlines show that the bulk of the fluid motion is concentrated around the walls, whereas the fluid within the center of the cell remains stationary. For the sinusoidally forced cases, the thermal plots show the existence of many thermal “islands,” or pockets of fluid where the temperature is different with respect to its surroundings. The vorticity plots show that the center of the cell is mostly devoid of vorticity and that the vorticity is mainly confined to the sidewalls, with some vorticity at the top and bottom walls. For the 0° forcing, the streamlines show the development of two counterrotating rollers. For the 180° forcing, the streamlines show the development of only one roller. Finally, for the 90° forcing, the streamlines show the development of both a two-roller and a one-roller system, depending on the position within the forcing cycle.     

（Ca,Mg）—Sialon陶瓷在空气及水润滑条件下的磨损机理研究

利用ＳＲＶ球－盘磨损试验机考察了一种（Ｃａ，Ｍｇ）－Ｓｉａｌｏｎ陶瓷在空气及水中的摩擦学性能，并采用ＥＰＭＡ，ＳＥＭ，ＥＤＡＸ以及ＸＰＳ等分析手段对其磨损机理做了进一步研究。结果表明：（Ｃａ，Ｍｇ）－Ｓｉａｌｏｎ陶瓷在水中比在空气中具有更低的摩擦因数，但具有较高的磨损体积损失。     

On Determining the Percolation Reynolds Number and the Characteristic Linear Dimension for Ideal and Fictitious Porous Media

Various versions of representations of the percolation Reynolds number for porous media with isotropic and anisotropic flow properties are considered. The formulas are derived and the variants are analyzed with reference to model porous media with a periodic microstructure formed by systems of capillaries and packings consisting of spheres of constant diameter (ideal and fictitious porous media, respectively). A generalization of the Kozeny formula is given for determining the capillary diameter in an ideal porous medium equivalent to a fictitious medium with respect to permeability and porosity and it is shown that the capillary diameter is nonuniquely determined. Relations for recalculating values of the Reynolds number determined by means of formulas proposed earlier are given and it is shown that taking the microstructure of porous media into account, as proposed in [1, 2], makes it possible to explain the large scatter of the numerical values of the Reynolds number in processing the experimental data.     

Effect of particle polydispersity on particle concentration measurement by using laser Doppler anemometry

Measurement of particle concentration by laser Doppler anemometry (LDA) is studied on a vertical air jet seeded by a powder disperser with controlled particle and air flow rates. Particle arrival rate is utilized to retrieve particle number densities from conventional LDA operation. The effect of polydisperse nature of the particles is assessed. Comparisons between measured and estimated particle number densities suggest that only a certain portion of the particle population with a particle size to fringe spacing ratio around unity can be detected. Results indicate that reliable measurement of absolute particle concentration is possible for a particle population of narrow size distribution with an average diameter equivalent to fringe spacing. Present number density measurement technique which is useful for practical purposes with conventional LDA systems is found to yield physically reasonable profiles in both laminar and turbulent regimes.     

Weak Nonlinear Analysis of Moderate Stefan Number Oscillatory Convection in Rotating Mushy Layers

We consider the solidification of a binary alloy in a mushy layer subject to Coriolis effects. A near-eutectic approximation and large far-field temperature is employed in order to study the dynamics of the mushy layer with a Stefan number of unit order of magnitude. The weak nonlinear theory is used to investigate analytically the Coriolis effect in a rotating mushy layer for a new moderate time scale proposed by the author. It is found that increasing the Taylor number favoured the forward bifurcation.     

Grain boundary,triple junction and quadruple point mobility controlled normal grain growth

Reduction in stored free energy provides the thermodynamic driving force for grain and bubble growth in polycrystals and foams. Evolution of polycrystalline networks exhibit the additional complication that grain growth may be controlled by several kinetic mechanisms through which the decrease in network energy occurs. Polyhedral boundaries, triple junctions (TJs), and quadruple points (QPs) are the geometrically distinct elements of three dimensional networks that follow Plateau’s rules, provided that grain growth is limited by diffusion through, and motion of, cell boundaries. Shvindlerman and co-workers have long recognized the kinetic influences on polycrystalline grain growth of network TJs and QPs. Moreover, the emergence of interesting polycrystalline nanomaterials underscored that TJs can indeed influence grain growth kinetics. Currently there exist few detailed studies concerned either with network distributions of grain size, number of faces per grain, or with ‘grain trajectories’, when grain growth is limited by the motion of its TJs or QPs. By contrast there exist abundant studies of classical grain growth limited by boundary mobility. This study is focused on a topological/geometrical representation of polycrystals to obtain statistical predictions of the grain size and face number distributions, as well as growth ‘trajectories’ during steady-state grain growth. Three limits to grain growth are considered, with grain growth kinetics controlled by boundary, TJ, and QP mobilities.