Analysis of soil flow and traction mechanics for lunar rovers over different types of soils using particle image velocimetry

Grouser wheels have been used in planetary rovers to improve mobility performance on sandy terrains. The biggest difference between a wheel with and without grousers is the soil behavior beneath the wheel as the grousers shovel the soil. By analyzing the soil flow, we gain insight into the mechanics dominating the interaction between the wheel and the soil, directly impacting performance. As the soil flow varies depending on the soil properties, the effects of soil type on soil behavior and wheel-traveling performance should be studied. This paper reveals the difference in soil flow and wheel performance on cohesive and non-cohesive soils. We conducted a series of single wheel tests over different types of soils under several wheel-traveling conditions. Soil flow was visualized by using particle image velocimetry (PIV). The experimental results indicate that soil flow characteristics highly depend on the shear strength of the soil. The cohesive soil exhibited lower fluidity due to its higher shear strength. At the same time, the wheel displayed a higher traveling performance over the cohesive soil, that is, a lower slip ratio.     

具有较小直径的三类图的对极色数

对一个连通图G,令d(u,v)表示G中两个顶点间u和v之间的距离,d表示G的直径.G的一个对极染色指的是从G的顶点集到正整数集(颜色集)的一个映射c,使得对G的任意两个不同的顶点u和v满足d(u,v)+|c(u)-c(v)|≥d.由c映射到G的顶点的最大颜色称为c的值,记作ac(c),而对G的所有对极染色c,ac(c)的最小值称为G的对极色数,记作ac(G).本文确定了轮图、齿轮图以及双星图三类图的对极色数,这些图都具有较小的直径d.     

曲率半径对车轮滚动接触疲劳性能的影响

滚动接触疲劳和磨损是铁路轮轨损伤的主要问题.本文中应用赫兹接触理论,在JD-1型轮轨模拟试验机上,通过改变试验冲角,研究了干态工况下曲率半径对车轮钢滚动接触疲劳性能的影响,并用光学显微镜和扫描电子显微镜观察车轮试样剖面与磨痕表面交界处的疲劳裂纹,分析不同曲率半径条件下车轮的滚动接触疲劳机理.结果表明:由于加工硬化的作用试验后所有试样的硬度均有提高;随着曲率半径的减小,车轮钢的磨损量增大,塑性流变层增厚且不均匀,车轮试样疲劳裂纹扩展加剧;裂纹在交变应力作用下容易继续向下扩展,从而形成严重的疲劳破坏.     

Improvement of a power tiller cage wheel for use in swampy peat soils

This study was aimed at investigating traction performance of a cage wheel for use in swampy peat soils in Indonesia. The tests were conducted in a soil bin filled with peat soil taken from the swampy areas. A set up was developed to measure tractive performance of a single cage wheel. Deep sinkage and high wheel slip were identified as the major problems of using the existing cage wheel design in swampy peat soils. The results revealed that increasing the lug angle from 15 to 35° and the length of lug improved the tractive performance of the cage wheel significantly, while increasing the number of lugs from 14 to 18 and width of lug did not improve the tractive performance significantly. A cage wheel with lug size 325×80 mm, 35° lug angle, 14 lugs (26° lug spacing), with 2 circumferential flat rings installed on the inner side of the lugs, out performed the other settings for use with power tillers in swampy peat soils.     

大尺寸单晶金刚石磨抛一体化加工研究

金刚石因其优异的物理性质被视为下一代半导体材料,然而其极高的硬度、脆性和耐腐蚀性导致其加工困难,尤其是对于大尺寸的化学气相沉积(chemical vapor deposition, CVD)单晶金刚石(SCD)晶片而言,目前还缺乏一种高效、低成本的磨抛加工方法。本文提出一种基于工件自旋转的同心双砂轮磨抛一体化加工技术,在一次装夹中,先采用金刚石磨料的陶瓷内圈砂轮磨削单晶金刚石晶片表面,将单晶金刚石表面迅速平坦化,后采用金刚石与CuO混合磨料的外圈溶胶-凝胶(sol-gel,SG)抛光轮抛光单晶金刚石晶片表面,使其在较短时间内完成从原始生长面(Sa约46 nm)到原子级表面精度(Sa＜0.3 nm)的加工。磨削加工中,硬质金刚石磨料的陶瓷砂轮高速划擦金刚石晶片表面,在强机械作用下获得较大的材料去除以及纳米级的光滑单晶金刚石表面,同时引起进一步的表面非晶化;SG抛光加工中,硬质金刚石磨料高速划擦单晶金刚石表面形成高温高压环境,进一步诱导CuO粉末与单晶金刚石表面的非晶碳发生氧化还原反应,实现反应抛光。磨抛一体化的加工技术为晶圆级的单晶、多晶金刚石的工业化生产提供借鉴。     

Two Series of Sandwich Frameworks Based on Two Different Kinds of Nanosized Lanthanide(III) and Copper(I) Wheel Cluster Units

Two series of sandwich frameworks, [La₆(μ₃‐OH)₂(ox)₃L₁₂Cu₁₁(μ₃‐X)₆(μ₂‐X)₃]?8 H₂O (X=Br/Cl, FJ‐21 a/b ; L=4‐pyridin‐4‐yl‐benzonate; ox=oxalate) and [Ln₄(OAc)₃(H₂O)₄L₉][Cu(μ₃‐I)]@[Cu₁₀(μ₃‐I)(μ₄‐I)₆(μ₅‐I)₃]?7H₂O (Ln=Pr/Nd/ Sm/Eu, FJ‐22 a / b / c / d ; OAc=acetate) have been hydrothermally prepared. These sandwich frameworks are assembled by two different kinds of nanosized lanthanide(III) and copper(I) wheel cluster units, La₁₈ and 3Cu@Cu₂₄ in FJ‐21 , Ln₂₄ and Cu₂@Cu₂₄ in FJ‐22 . The synergistic coordination between organic ligands, L and oxalate/acetate, leads to the formation of La₁₈ and Ln₂₄ wheels, while the synergistic coordination between organic L and inorganic Br/I ligands results in 3Cu@Cu₂₄ and Cu₂@Cu₂₄ wheels for FJ‐21 and FJ‐22 , respectively. Thus, two types of synergistic coordination between two different organic ligands, as well as inorganic and organic ligands are simultaneously observed in FJ‐21 and FJ‐22 .     

W_4 ∨ C_n的交叉数

本文研究了五阶图与圈图的联图交叉数.利用假设法和比较法等方法,得到了W4∨Cn的交叉数为Z(5,n)+n+n2+4,并推广了联图交叉数的结果与方法.     

汽车方向盘角度传感器检测系统设计

方向盘转角传感器是汽车动力学稳定性控制系统的重要组成部分,其精度对于行车安全具有重要意义。本文设计了一种基于CAN总线的汽车方向盘角度传感器转角检测系统,通过验证实验,证明了该系统能有效解决汽车方向盘角度传感器转角测试问题。并利用此系统对一款角度传感器进行了测试,测试结果符合要求。     

平行磨削非轴对称非球面光学元件表面形貌

结合砂轮表面仿真及磨削过程的运动学仿真获得工件表面轮廓、形貌和粗糙度预计,可以作为磨削过程中的理论依据,是精密磨削加工技术中主要的研究内容之一。平行磨削技术是加工非轴对称非球面光学元件的重要手段,而相关的仿真过程报道还很少。提出一种基于平行磨削的精密磨削加工非球面表面生成的仿真方法,该方法主要包含使用高斯方法生成具有不同统计学特征的随机砂轮表面形貌,建立单磨粒运动轨迹方程和圆弧砂轮细分后与工件表面点接触的运动关系,据此给出平行磨削加工表面生成的数值算法,并对不同加工参数下的工件表面形貌进行仿真。仿真结果和测量结果的一致性验证了所给算法的正确性和有效性     

一种车辆模型辅助的MEMS-SINS导航方法

针对城市环境中GNSS因遮挡导致MEMS-SINS精度快速降低的问题,在车辆运动学约束的基础上,结合四通道ABS轮速传感器和方向盘转角信息,提出一种新的适用于陆地车辆的MEMS-SINS导航方法。该方法通过分析车辆转弯和运动约束特性,构建角速度和加速度观测量,从而实现基于模型辅助的MEMS误差在线补偿;其次,ABS轮速信息与非完整约束条件结合可额外增加三维车体速度观测量,进一步维持卫星失效时组合滤波器的量测更新。跑车实验表明,在GNSS信号频繁丢失甚至长时间无法定位时,低精度MEMS惯性器件引起的快速误差积累得到有效抑制,与经典车体约束结合里程计算法相比,航向精度提高约70%,位置、速度精度也有相应的提高,验证了算法的有效性。