机器人9号

巨大的图书馆废墟里,“3”和“4”这对略显胆小却又知识渊博的双胞胎,从眼睛里闪烁出历史的智慧光芒,告诉“9”他们机器怪兽的历史润源：被誉为“科学的大脑”的机器怪兽,曾是人类引以为豪的智能机器。     

Examples of boundary layers associated with the incompressible Navier-Stokes equations

The author surveys a few examples of boundary layers for which the Prandtl boundary layer theory can be rigorously validated. All of them are associated with the incompressible Navier-Stokes equations for Newtonian fluids equipped with various Dirichlet boundary conditions (specified velocity). These examples include a family of (nonlinear 3D) plane parallel flows, a family of (nonlinear) parallel pipe flows, as well as flows with uniform injection and suction at the boundary. We also identify a key ingredient in establishing the validity of the Prandtl type theory, i.e., a spectral constraint on the approximate solution to the Navier-Stokes system constructed by combining the inviscid solution and the solution to the Prandtl type system. This is an additional difficulty besides the wellknown issue related to the well-posedness of the Prandtl type system. It seems that the main obstruction to the verification of the spectral constraint condition is the possible separation of boundary layers. A common theme of these examples is the inhibition of separation of boundary layers either via suppressing the velocity normal to the boundary or by injection and suction at the boundary so that the spectral constraint can be verified. A meta theorem is then presented which covers all the cases considered here.     

AN EFFICIENT METHOD FOR MULTIOBJECTIVE OPTIMAL CONTROL AND OPTIMAL CONTROL SUBJECT TO INTEGRAL CONSTRAINTS

We introduce a new and efficient numerical method for multicriterion optimal control and single criterion optimal control under integral constraints. The approach is based on extending the state space to include information on a ＂budget＂ remaining to satisfy each constraint; the augmented Hamilton-Jacobi-Bellman PDE is then solved numerically. The efficiency of our approach hinges on the causality in that PDE, i.e., the monotonicity of characteristic curves in one of the newly added dimensions. A semi-Lagrangian ＂marching＂ method is used to approximate the discontinuous viscosity solution efficiently. We compare this to a recently introduced ＂weighted sum＂ based algorithm for the same problem [25]. We illustrate our method using examples from flight path planning and robotic navigation in the presence of friendly and adversarial observers.     

科学家开发出首款全方位模拟昆虫飞行机器人

 想拍死一只苍蝇并不是件容易事,单凭飞行技巧而论,它们的造诣绝对令人折服。如今,一个家蝇般大小的机器已经设法完成了类似复杂的飞行任务,并且能够像真正的昆虫一样在空中盘旋。     

巧用图形变换 妙求路线极值

引例:(2012年四川凉山州卷)在学习轴对称的时候,老师让同学们思考课本中的探究题:如图1所示,要在燃气管道l上修建一个泵站,分别向A、B两镇供气.泵站修在管道的什么地方,可使所用的输气管线最短?你可以在l上找几个点试一试,能发现什么规律?     

有限长管道声衬的参数优化设计研究

本文应用已经过验证的有限长管道声学模型进行声衬参数的优化设计,研究了固定工况下,优化半径、声衬长度和声衬位置对阻抗优化参数的影响,其中声衬长度和声衬位置对阻抗优化参数的影响和应用无限长管道声学模型进行优化设计时的影响明显不同.本文讨论得到的结论对声衬参数优化设计有重要的指导价值.     

基于时反导波检测的管道缺陷圆周定位研究

用传递函数的观点,分析由缺陷这个被动的导波源产生的时间反转波场的传播方式.通过推导时间反转波幅值的表达式,在理论上论证了时间反转聚焦效应可用于管道导波缺陷的检测和定位.在分析影响缺陷定位的重要因素的同时,阐述了基于时间反转理论的管道单缺陷和双缺陷定位试验研究,进一步说明了在管道导波检测时,采用试验与有限元结合的方式实现缺陷的轴向和周向定位的方法是实际可行的,该方法同时还解决了管道轴向位置相同的双缺陷辨识问题.     

高分子软物质动力学与NMR

高分子熔体或浓溶液中链段扩散和链的弛豫模式满足普适的物理定律,这些定律代表了高分子链动力学的普遍特征.核磁共振(NMR)则为我们直接验证这些物理定律或揭示高分子运动的基本规律提供了强有力的实验手段.本文介绍三个基本的高分子动力学模型(即Rouse模型,蛇行/管道模型和重整化Rouse模型)和以这三个理论模型为基础的NMR实验原理和技术.最后对相关的NMR实验结果进行了综述,并着重与理论模型所期待的结果进行了比较.     

微尺度型腔内液态金属流动规律模拟研究

修正了传统的Navier-Stoke方程,并利用修正后的方程与Fluent软件对微尺度型腔内Zn-Al合金微流动规律进行了数值模拟.模拟结果表明：液态金属在微尺度管道内的流动规律在管径为0.5mm时出现临界状态,管径越细,速度附面层相对厚度就越大.同时,微管流动存在着宏观流动中没有的“凸进效应”,且随着入口压力增大,流动前沿自由液面的凸进效应减弱.在流动前沿区域和上游区域之间出现负压力梯度区,且管径越细越明显. 关键词： 微管道 微流动 Zn-Al合金     

细管道内表面光电检测方法研究

管道是气体和液体传输的重要手段,管道内表面的检测对于工业和国防中管道泄漏事故的预防,减少环境污染和经济损失非常重要。随着电子和半导体技术的发展,光电器件逐步趋于小型化。介绍了基于激光阵列、PSD光电检测、光环截面以及结构光检测等光电检测方法的测量原理和系统构成,并在此基础上对不同光电检测方法的优缺点进行了分析和比较。分析结果表明：光电检测技术适用于管道内表面检测;并朝着快速识别缺陷、管道内表面瑕疵的精确三维测量以及三维图像直观显示管壁缺陷的方向发展。