竞赛机器人的创意设计与基本机械结构——Robocon全国大学生机器人电视大赛

结合笔者指导的一、二、三届CCTV全国大学生机器人电视大赛无锡职业技术学院代表队的比赛机器人的设计制作,阐述竞赛型机器人的创意设计与基本机械结构。     

风险投资促进技术创新的动力机制和效应分析

借助于国内外已有的研究成果,通过建立理论模型来说明风险投资促进技术创新的动力机制。接着先从单个企业出发,分析风险投资对技术创新的影响,接着将分析扩展到宏观层次,试图寻求风险投资促进技术创新动力机制的微观基础,以此期望将分别建立在不同认识基础上的理论研究和经验研究统一到一个框架中。     

串并联管路条件下的油水两相流动综合模型

油水两相混合流动是油田开发过程中常见的流动形式。然而,目前的研究主要局限于单一恒径管道内,缺乏对并联或串联管路等复杂管路内流体流动的研究。本文基于管路串并联理论、流型转变准则、双流体模型和均相流模型,建立了复杂管路油水两相流动的综合模型,结合实例对该模型进行了验证,与数值模拟结果进行了比较。研究结果表明,该模型对油水两相在复杂管路中的分流情况和压降均表现出了良好的预测性,在两相体积含水率分别为0%~100%条件下,模型预测的绝对平均百分误差最高为14.4%,总体平均误差为9.8%。     

A principal–agent problem with heterogeneous demand distributions for a carbon capture and storage system

Mechanism design problems optimize contract offerings from a principal to different types of agents who have private information about their demands for a product or a service. We study the implications of uncertainty in agents’ demands on the principal’s contracts. Specifically, we consider the setting where agents’ demands follow heterogeneous distributions and the principal offers a menu of contracts stipulating quantities and transfer payments for each demand distribution. We present analytical solutions for the special case when there are two distributions each taking two discrete values, as well as a method for deriving analytical solutions from numerical solutions. We describe one application of the model in carbon capture and storage systems to demonstrate various types of optimal solutions and to obtain managerial insights.     

Physical study of bismuth alloys containing Pb,Sn and Cd

For the purpose of studying some physical properties in addition to the mechanism of the melting phenomena, five bismuth alloys Bi_55.5Pb_44.5, Bi₅₀Pb₂₅Sn₂₅, Bi₅₀Pb₂₅Cd₂₅, Bi₅₀Pb₂₅Sn_18.75Cd_6.25 and Bi₅₀Pb₂₅Sn_6.25Cd_18.75 of melting points in the range from 338.5 to 396.5 K were prepared and studied by different techniques. The near-surface materials have been characterized by microhardness together with the wetting characteristics on CuZn₃₀ substrates as a function of time. The mechanism of melting from the point of view of the order of reaction (n) was explored by applying two different techniques, namely, differential thermal analysis and the electrical resistivity as a function of temperature.     

高碳烃宽温度范围燃烧机理构建及动力学模拟

发动机中燃料点火特性以及燃烧能量的释放对于发动机设计具有非常重要的作用,为了提高燃料的燃烧效率以及减少燃料在燃烧过程中污染物的排放,基于反应动力学机理对燃料燃烧过程的模拟就显得十分必要。因此需要更加深入的认识碳氢燃料的燃烧机理,探索其在燃烧过程中十分复杂的化学反应网络。为了发展能够适用于实际燃料多工况条件(宽温度范围、宽压力范围和不同当量比)燃烧的燃烧机理,基于碳氢燃料机理自动生成程序ReaxGen构建了正癸烷燃烧详细机理(包含1499个物种,5713步反应)和正十一烷燃烧详细机理(包含1843个物种,6993步反应)。详细机理主要由小分子核心机理和高碳烃类(C5以上)机理两部分组成。为了验证机理的合理性与可靠性,本文对于高碳烃燃烧新机理在点火延时时间以及物种浓度曲线进行了动力学分析,并与实验数据及国内外同类机理进行了对比,结果表明本文提出的正癸烷和正十一烷燃烧新机理在比较宽泛的温度、压力和当量比条件下都具有较高的模拟精度,为发展精确航空煤油燃烧模型提供了基础数据。同时考虑到详细机理的复杂性以及机理分析的计算量大和时耗长,本文基于误差传播的直接关系图形(Directed Relation Graph with Error Propagation,DRGEP)方法简化得到的包含709组分2793反应的正癸烷和包含820组分3115反应的正十一烷简化机理,使用DRGEP方法时所采用的数据点选自压力范围从1.0×10~5 Pa到1.0×10~6Pa,当量比范围从0.5到2.0,初始温度范围从600到1400时恒压点火的模拟结果在点火延迟时间附近区域的抽样,同时在正癸烷机理简化中选取正癸烷、O_2和N_2作为初始预选组分,正十一烷的机理简化中主要选取正十一烷、O_2和N_2作为初始预选组分,得到的简化机理在比较宽泛的条件下的预测结果与详细机理吻合很好。最后结合敏感度分析方法分析了正癸烷和正十一烷的点火延迟敏感性,考察了机理中影响点火的关键反应。结果表明:这些机理能够合理描述正癸烷和正十一烷的自点火特性,在工程计算流体力学仿真设计中有很好的应用前景。     

智能挂弹机器人结构设计与举升机构仿真分析

针对目前军用机场传统液压挂弹系统作业时间长、人力成本高、挂载精度低等问题,为提高挂弹作业效率,推进我国地面保障设备智能化、电气化发展,大力提高我国战时地面保障综合能力,设计了一种智能挂弹机器人。首先完成了智能挂弹机器人的机械结构总体设计;其次对智能挂弹机器人最关键的举升机构进行了静力学和运动学分析,建立起举升机构力矩平衡方程和运动学方程;随后通过ADAMS仿真计算举升机构在作业过程中的推力变化以及末端托盘速度变化情况。分析结果显示,所设计的举升机构各项性能达到预期要求,同时仿真结果也为智能挂弹机器人的举升电力系统设计和选型提供了可靠的数据支持。     

纳米铁、纳米铁-铜对水体中芴的去除研究

多环芳烃(PAHs)是一类难降解、致癌、致畸、致突变且易在生物体内富集的持久性有机污染物(POPs)。本研究选取多环芳烃中芴作为研究对象,通过改变纳米铁和纳米铁-铜添加量、初始浓度、pH值和温度,研究四种因素对芴去除效率的影响。实验结果表明：随着加量的增加,芴的去除率升高;增加初始浓度,芴的去除率降低,平衡吸附量增大;pH越低、温度越高,芴的去除率升高;纳米铁和纳米铁-铜对芴的吸附过程较好地符合准二级速率方程,平衡吸附量随芴初始浓度的增大而增大。     

Predicting polycyclic aromatic hydrocarbon formation with an automatically generated mechanism for acetylene pyrolysis

Using Reaction Mechanism Generator (RMG), we have automatically constructed a detailed mechanism for acetylene pyrolysis, which predicts formation of polycyclic aromatic hydrocarbons (PAHs) up to pyrene. To improve the data available for formation pathways from naphthalene to pyrene, new high‐pressure limit reaction rate coefficients and species thermochemistry were calculated using a combination of electronic structure data from the literature and new quantum calculations. Pressure‐dependent kinetics for the CH potential energy surface calculated by Zádor et al. were incorporated to ensure accurate pathways for acetylene initiation reactions. After adding these new data into the RMG database, a pressure‐dependent mechanism was generated in a single RMG simulation which captures chemistry from C to C. In general, the RMG‐generated model accurately predicts major species profiles in comparison to plug‐flow reactor data from the literature. The primary shortcoming of the model is that formation of anthracene, phenanthrene, and pyrene are underpredicted, and PAHs beyond pyrene are not captured. Reaction path analysis was performed for the RMG model to identify key pathways. Notable conclusions include the importance of accounting for the acetone impurity in acetylene in accurately predicting formation of odd‐carbon species, the remarkably low contribution of acetylene dimerization to vinylacetylene or diacetylene, and the dominance of the hydrogen abstraction CH addition (HACA) mechanism in the formation pathways to all PAH species in the model. This work demonstrates the improved ability of RMG to model PAH formation, while highlighting the need for more kinetics data for elementary reaction pathways to larger PAHs.