带时间窗的车间搬运机器人路径优化建模及算法研究

本文以车间搬运机器人为研究对象,在考虑时间窗的前提下,求解机器人进行物料配送和成品回收场景下的路径优化问题。提出一种强化学习遗传蚁群算法,首先利用扫描法求解初始搬运机器人的数量,并将子路径节点的几何中心设置为虚拟节点,利用嵌入遗传算子的蚁群算法求解连接虚拟节点的最优路径,再利用强化学习算法求解子路径的最优结果;最后将基本成本、运输成本和时间惩罚成本的加权和作为目标解,并最终求出满足约束条件的最优解。通过与基准问题求解结果对比,验证了强化学习遗传蚁群算法的优越性。     

Recyclable carbon fiber‐reinforced plastics (CFRP) containing degradable acetal linkages: Synthesis,properties, and chemical recycling

Two epoxy resins containing degradable acetal linkages were synthesized by the reaction of cresol novolak‐type phenolic resin (CN) with vinyl ethers containing a glycidyl group [cyclohexane dimethanol vinyl glycidyl ether (CHDMVG) and 4‐vinyloxybutyl glycidyl ether (VBGE). Carbon fiber‐reinforced plastics (CFRPs) were prepared by heating laminated prepreg sheets with CN‐CHDMVG resin (derived from CN and CHDMVG) and CN‐VBGE resin (derived from CN and VBGE), in which carbon fibers are impregnated with epoxy resins containing curing agents [dicyandiamide (DICY)] and curing accelerator [3‐(3,4‐dichlorophenyl)‐1,1‐dimethylurea (DCMU)]. CN‐CHDMVG‐based CFRPs and CN‐VBGE‐based CFRPs exhibited almost the same tensile strength as the conventional bisphenol‐A‐based CFRPs. CN‐CHDMVG‐based CFRPs and CN‐VBGE‐based CFRPs underwent smooth breakdown with the treatment of hydrochloric acid in tetrahydrofuran at room temperature for 24 h to regenerate strands of carbon fibers. The surface conditions of the recovered carbon fibers had little changes during degradation and recovery processes on the basis of scanning electron microscopy (SEM) and X‐ray photoelectron spectroscopy (XPS). The recovered carbon fibers exhibited almost the same tensile strength as virgin carbon fibers and hence would be reused for the production of CFRPs. © 2015 Wiley Periodicals, Inc. J. Polym. Sci., Part A: Polym. Chem. 2015 , 53, 1052–1059     

Functional Properties and Molecular Degradation of Schizostachyum Brachycladum Bamboo Cellulose Nanofibre in PLA-Chitosan Bionanocomposites

The degradation and mechanical properties of potential polymeric materials used for green manufacturing are significant determinants. In this study, cellulose nanofibre was prepared from Schizostachyum brachycladum bamboo and used as reinforcement in the PLA/chitosan matrix using melt extrusion and compression moulding method. The cellulose nanofibre(CNF) was isolated using supercritical carbon dioxide and high-pressure homogenisation. The isolated CNF was characterised with transmission electron microscopy (TEM), FT-IR, zeta potential and particle size analysis. The mechanical, physical, and degradation properties of the resulting biocomposite were studied with moisture content, density, thickness swelling, tensile, flexural, scanning electron microscopy, thermogravimetry, and biodegradability analysis. The TEM, FT-IR, and particle size results showed successful isolation of cellulose nanofibre using this method. The result showed that the physical, mechanical, and degradation properties of PLA/chitosan/CNF biocomposite were significantly enhanced with cellulose nanofibre. The density, thickness swelling, and moisture content increased with the addition of CNF. Also, tensile strength and modulus; flexural strength and modulus increased; while the elongation reduced. The carbon residue from the thermal degradation and the glass transition temperature of the PLA/chitosan/CNF biocomposite was observed to increase with the addition of CNF. The result showed that the biocomposite has potential for green and sustainable industrial application.     

SiC和石墨混杂增强铜基复合材料的高温摩擦磨损特性研究

采用MMU-5G型端面摩擦磨损试验机研究了SiC和石墨颗粒混杂增强铜基复合材料在250～400 ℃与GCr15钢对摩时的高温摩擦磨损特性,并与SiC/Cu复合材料进行对比分析.结果表明:加入石墨颗粒可以降低复合材料和偶件GCr15钢的磨损率,获得低而稳定的摩擦系数;同时,有效防止高温条件下严重粘着转移现象的发生,使得在400 ℃下混杂复合材料仍具有较低的磨损率.这是由于在混杂增强铜基复合材料的高温磨损表面上通过"磨屑机械混合→热压"的机制形成了连续的富石墨机械混合层,而对磨损表面起到良好的固体润滑作用,使得SiC和石墨混杂增强铜基复合材料具有良好的高温摩擦磨损特性.     

对岩体加固工程的水文地质条件分析

裂隙岩体的透水性各向异性和透水率大小的随机性,决定着渗控 (加固 )工程钻孔方位、倾角的多样性。它说明渗控工程设计中把裂隙岩体透水性假定成各向同性是不合实际的。应根据岩体的水文地质条件,寻找出裂隙隙宽、透水性和透水率相对较大的方位和倾角作为渗控工程钻孔的矢量。     

钢筋混凝土圆形截面非均匀配筋的图算法

圆形截面是工程中常使用的截面形式之一,但圆形截面的配筋计算较为困难,存在双重非线性(材料和截面宽度变化的非线性),《混凝土结构设计规范》给出了计算均匀配筋的超越方程组,且须迭代求解,无法手算.另外,一些圆形截面构件(如桥墩、桩基的预制桩和灌注桩等)的截面尺寸大,构件长,钢筋用量大,若采用均匀布置的配筋方式,中性轴附近的钢筋应力小,强度利用率低,经济性差.若采用非均匀配筋,在远离中性轴的外围区域布置受力钢筋,可大幅节省钢筋用量,且能充分利用钢筋及混凝土的强度.为此本文通过应变计算应力,再计算出内力的方法推导计算圆形截面配筋的公式,并将计算结果绘制成了能计算配筋的无量纲诺模图,由此可快速手算配筋,该图通用性强,可用于任意直径大小及C50以下的混凝土强度等级,是一能快速计算配筋的实用工具.     

Study on the Collapse of Pin-Reinforced Foam Sandwich Panel Cores

New fabrication technologies now allow for hybrid sandwich structures, known as X-core, to be manufactured. The X-core panels consist of a pin reinforced polymer foam core with carbon fiber face sheets. Carbon fiber or metallic (Titanium/Steel) pins are inserted into the foam core in the out-of-plane direction and extend from face sheet to face sheet. The through thickness three-point simply supported bending behavior of these panels is used to evaluate the collapse characteristics of the panels. Explicit experimental observations are used to calibrate analytical energy balance models describing the panel collapse as a function of geometry and properties. The mechanical response of X-core sandwich panels is compared to current sandwich materials for material selection.     

The Morphology and Mechanical Properties of Isotactic Polypropylene Injection-Molded Samples with the Presence of β-Nucleation Agent and Periodical Shear Field

The pressure vibration injection molding (PVIM) method was used to prepare β-nucleated isotactic polypropylene samples (PVIM β-iPP samples); a relatively low, periodical shear was imposed on the polymer melt in the mold at the filling and packing stages. The crystal structures and crystal orientation of the PVIM β-iPP samples were investigated by polarizing light microscopy (PLM), scanning electron microscopy (SEM), and synchrotron two-dimensional wide-angle X-ray diffraction (2D-WAXD). The PLM observations indicated that a cylindrite layer, rather than the transition layer, was found in PVIM β-iPP samples, which is different from the conventional injection-molded (CIM) samples. In addition, the thickness of the oriented layer of the PVIM samples was obviously greater than that of the CIM samples. The SEM observations demonstrated that a large amount of shish-kebab structures appeared in the shear layer of the PVIM β-iPP samples; at the same time, numerous β-spherulites were formed in the core layer. The 2D-WAXD data indicated that orientation homogeneity, to some degree, could be obtained by the periodical shear during PVIM. As a result, the above-mentioned morphology of the PVIM β-iPP samples leads to potentially useful prominent reinforcement and toughening of the material.     

大开口复合材料加筋壁板稳定性分析

运用大型有限元软件Patran/Nastran分析了大开口复合材料加筋壁板的稳定性,并对不同加筋方式下壁板屈曲特征值和屈曲模态图进行了比较。结果表明:补强提高了大开口复合材料壁板的稳定性,但往往无法达到很好的效果,需要通过加筋改善其稳定性;加筋复合材料壁板稳定性较原有模型有较大提高;加筋大开口复合材料壁板屈曲特征值随筋条距开口中心距离的增加而减小,其屈曲分界线均位于筋条布置处;纵筋大开口复合材料加筋壁板一阶屈曲特征值为2.13,而横筋只达到1.08;纵筋布置对复合材料壁板稳定性影响明显高于横筋布置,可在实际工程应用中适当增加纵筋的布置。     

Rate type constitutive equations for fiber reinforced nonlinearly vicoelastic solids using spectral invariants

In this paper we are interested in developing constitutive equations for fiber-reinforced nonlinearly viscoelastic solids. It has been shown that constitutive equations for such bodies can be expressed in terms of a complete minimal set of 18 classical invariants associated with deformation and fiber orientation. In this paper, we give an alternative formulation using a set of spectral invariants. It is shown via the use of spectral invariants that only 11 of the 18 classical invariants are independent. We analyze the spectral invariants for two illustrative deformation gradients: (i) simple tension, and (ii) simple shear.