A new approach to the incorporation of servo constraints in multibody dynamics

A new index reduction approach is developed to solve the servo constraint problems [2] in the inverse dynamics simulation of underactuated mechanical systems. The servo constraint problem of underactuated systems is governed by differential algebraic equations (DAEs) with high index. The underlying equations of motion contain both holonomic constraints and servo constraints in which desired outputs (specified in time) are described in terms of state variables. The realization of servo constraints with the use of control forces can range from orthogonal to tangential [3]. Since the (differentiation) index of the DAEs is often higher than three for underactuated systems, in which the number of degrees of freedom is greater than the control outputs/inputs, we propose a new index reduction method [1] which makes possible the stable numerical integration of the DAEs. We apply the proposed method to differentially flat systems, such as cranes [1,4,5], and non-flat underactuated systems. (© 2016 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Compressed matrix thin film (CMTF)-assisted laser desorption ionization mass spectrometric analysis

The inhomogeneous re-crystallization process of matrix materials is the major concerns associated with matrix assisted laser desorption/ionization (MALDI) analysis. We describe here the approach termed compressed matrix thin film (CMTF) in order to make a uniform matrix deposition. In this approach, solid matrix particles are compressed under 10 MPa of pressure by a compressor that is regularly used in infrared spectroscopic analysis. Then aqueous samples can be deposited on the surface of the matrix film. Major advantages of the CMTF approach are summarized as follows. (1) Reproducible sample preparation procedure. Size and thickness of matrix thin films can be controlled by using a fixed mold.force and known amount of matrix materials. (2) Significantly decreased shot-to-shot variations and enhanced reproducibility. (3) Tolerance for in situ salt washing. Because matrix materials are hydrophobic, salts can be washed away while proteins or peptides are retained on the surface of matrix thin films through hydrophobic interactions. (4) Improved sensitivity. The hydrophobic coating of MALDI sample plate by matrix thin films prevents the spreading of samples across the plate and confines analytes to a small area, leading to increased local concentration. (5) A new means for tissue analysis. Tissue sections can be directly transferred to the uniform surface of matrix materials for reproducible and quantitative comparison of different molecules in different localization. The proposed CMTF should be an enabling technique for mass spectrometric analysis with improved correlations between signal intensities and sample quantities.     

Microstructure,Tribological Behavior,and Corrosion-Resistant Performance of Bonded MoS2 Solid Lubricating Film Filled with Nano-LaF3

The anti-friction and wear-resistant performances of bonded MoS₂ solid lubricating films filled with nano-LaF₃ filler were investigated under in drying wear conditions, the corrosion-resistant performances of bonded lubricating films was evaluated according to ASTM-B117, and the characteristics of the bonded lubricating films were examined by TEM and elemental x-ray map. The wear-resistant performance of the bonded lubricating films filled with nano-LaF₃ filler increases with increasing content of nano-LaF₃ filler within a content range between 0 and 5 wt%, whereas the bonded lubricating films filled with 0.5–1 wt% micro-LaF₃ filler exhibit the better wear-resistant performances. The incorporation of both nano-LaF₃ and micro-LaF₃ filler leads the increase of the coefficient of friction of the bonded lubricating films. The LaF₃ filler can improve the corrosion-resistant performance of the bonded MoS₂ solid lubricating films, whereas the incorporation of nano-LaF₃ filler is more effective to improve the corrosion-resistant performance of the bonded lubricating films than micro-LaF₃ filler. The improvement in the wear-resistant and corrosion-resistant performances of the bonded lubricating films by the incorporation of the nano-LaF₃ filler is attributed to the strengthened interfacial bonding among the nano-LaF₃ and the MoS₂ lubricant and the polymeric matrix. However, a too high mass fraction of the nano-LaF₃ filler in the bonded lubricating films will increase surface and interface defects, and lead the worsening of corrosion-resistant performance of the bonded lubricating films.     

A numerical method for the servo constraint problem of underactuated mechanical systems

Servo constraints are used in inverse dynamics simulations of discrete mechanical systems, especially for trajectory tracking control problems [1], whose desired outputs are represented by state variables and treated as servo constraints [2]. Servo constraint problems can be classified into fully actuated and underactuated multibody systems, and the equations of motion take the form of differential algebraic equations (DAEs) including holonomic and servo constraints. For fully actuated systems, control inputs can be solved from the equations by model inversion, as the input distribution matrix is nonsingular and invertible. However, underactuated systems have more degrees of freedom than control inputs. The input distribution matrix is not invertible, and in contrast to passive constraints, the realization of servo constraints with the use of control forces can range from orthogonal to tangential [3]. Therefore, it is challenging for the determination of control inputs which force the underactuated system to realize the partly specified motion. For differentially flat underactuated systems, the differentiation index of DAEs may exceed three. Hence we need to apply specific index reduction techniques, such as the projection approach applied in [3], [4], and [6]. The present work applies index reduction by minimal extension [5] to differentially flat underactuated crane systems and shows that the index can be reduced from five to three and even to one. (© 2015 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

A simple solution-immersion process for the fabrication of superhydrophobic cupric stearate surface with easy repairable property

The present work reports a simple and time-saving method to fabricate cupric stearate film on zinc substrate by a solution-immersion process. Superhydrophobic surfaces are conventionally prepared employing two steps: roughening a surface and lowering its surface energy. The fabrication of superhydrophobic cupric stearate surface is reported using a one-step process by immersing a zinc plate coated with copper into the stearic acid solution, simplifying the complexity of two different steps involved in the conventional methods. The surface of the zinc plate coated with copper is found to be covered with low surface energy cupric stearate film providing the water contact angle of 160 ± 1° with the rolling off properties. In addition, the damaged superhydrophobic surface can restore superhydrophobicity property by immersing the surface into the stearic acid solution again.     

A note on allocation of portfolio shares of random assets with Archimedean copula

This paper further studies the single-period portfolio allocation of risk assets under the assumption that random returns having increasing utility and Archimedean copula. The shares of risk assets in the optimal allocation are proved to be ordered when marginal returns have the likelihood ratio order, and sufficient conditions for the joint density of returns of a multivariate risk to be arrangement increasing is built as well.     

On allocating redundancies to k‐out‐of‐ n reliability systems

For two components in series and one redundancy with their lifetimes following the proportional hazard models, we build the likelihood ratio order and the hazard rate order for lifetimes of the redundant systems. Also, for k ‐out‐of‐ n system with components’ lifetimes having the arrangement increasing joint density and the redundancies having identically distributed lifetimes, allocating more redundancies to weaker components is shown to help improve the system's reliability. Copyright © 2014 John Wiley & Sons, Ltd.     

近置多裂纹相互作用的渐近分析方法

考虑到近置裂纹的强相互作用,提出了一种多裂纹相互作用的渐近分析方法. 经典Kachanov 方法将裂纹表面伪面力分解为两部分：均匀分布部分和非均匀部分,并假设裂纹的相互作用 仅由均匀部分引起,而忽略非均匀部分的影响. 该假设大大简化了分析过程,而且当裂纹间 距不是很小时,有很好的精度. 但当裂纹非常靠近或者沿主荷载方向重叠时,由于裂纹尖端 进入了其它裂纹的应力强化区或者应力屏蔽区,强相互作用使得该假设不再合理,从而带来 较大的误差. 为了提高分析近置多裂纹问题的精度,将裂纹表面伪面力分解为抛物线型分布 部分及高阶部分,考虑抛物线型分布张力对其他裂纹的影响,同样忽略高阶部分的影响. 通 过对三共线裂纹及两平行偏置裂纹两个实例的分析,验证了对于近置裂纹,新渐近方法具有 良好的精度.     

各向异性表面光学的格林函数公式及其应用

本文通过对麦克思韦方程组的变换和反演得到各向异性介质的表面光学格林函数.用它计算辐射场可以直接得到s和p偏振波的表示式,因而在计算界面效应时可以自然地引入菲涅耳系数.作为应用,本文计算了当存在界面和薄膜时极化所产生的辐射场.     

A NECESSARY AND SUFFICIENT CONDITION FOR THEOSCILLATION OF SOLUTIONS OF LIENARD TYPE SYSTEM WITH MULTIPLE SINGULAR POINTS

I.IntroductionJ.R.Graer']andG.VillariI2]gavenecessar\JandsufficientconditionsfortheoscillationofsolutionofLienardsystemf~])~F(x),y~~glXJ(l.l)HanMaoanI3]gaveoscillatirytheoremsforLienardt}'pesystemt'.ithasingularpointi~h(.t/)~F(x),#~~g(x)(1.2)Whereas,aloto…