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In this paper, the special construction of a parallel robot, called spatial servopneumatic multi-axis test facility, will be discussed. The investigations include the following aspects: (i) the laboratory set-up of the robot, (ii) various results obtained in laboratory experiments, taking into account quite different control algorithms and command-input signals, (iii) a comparison of the laboratory experiments with the computer simulations of Part I of this paper, and ({vi}) a quality check of the results compared with the cost of the different controller realizations. The results of both the computer simulations and the laboratory experiments show: (i) The dynamic behavior of the parallel structure can be tremendously improved by using sophisticated nonlinear control algorithms. (ii) This improvement has to be paid by a drastically increased amount of work for deriving the model equations and control algorithms, and by augmented hardware cost of the sensing elements and controller electronics. (iii) Carefully developed model equations and identified model parameters provide theoretical models of the complex parallel structure that are very close to reality. This enables the design engineer to systematically investigate constructive alternatives of the design parameters, sensor and actuator concepts, and control strategies of the MAP prior to their hardware realization.This work has been supported by the German Science Foundation (DFG) under Contract No. Ha 1666/6-3. 相似文献
3.
Liquid-liquid phase equilibria of aqueous two-phase systems containing salts and polyethylene glycol 总被引:2,自引:0,他引:2
Liquid-liquid phase equilibria of the ternary systems: (a) polyethylene glycol - ammonium sulfate- water and (b) polyethylene glycol - sodium carbonate -water have been determined experimentally at 15°, 25°, 35° and 45°C and for two different molecular weights of the polymer (Avg. M.W. 1000 and 2000). Details of the glass cell and of the equilibration and analytical procedures used are described. Equilibrium data along with phase diagrams are presented. Finally the effect of temperature and of the molecular weight of the polymer are also discussed. 相似文献
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The use of liquid fuels such as kerosene is of interest for the pulse detonation engine (PDE). Within this context, the aim
of this work, which is a preliminary study, was to show the feasibility to initiate a detonation in air with liquid-fuel pyrolysis
products, using energies and dimensions of test facility similars to those of PDEs. Therefore, two liquids fuels have been
compared, JP10, which is a synthesis fuel generally used in the field of missile applications, and decane, which is one of
the major components of standard kerosenes (F-34, Jet A1, ...). The thermal degradation of these fuels was studied with two
pyrolysis processes, a batch reactor and a flow reactor. The temperatures varied from 600°C to 1,000°C and residence times
for the batch reactor and the flow reactor were, respectively, between 10–30 s and 0.1–2 s. Subsequently, the detonability
of synthetic gaseous mixtures, which was a schematisation of the decomposition state after the pyrolysis process, has been
studied. The detonability study, regarding nitrogen dilution and equivalence ratio, was investigated in a 50 mm-diameter,
2.5 m-long detonation tube. These dimensions are compatible with applications in the aircraft industry and, more particularly,
in PDEs. Therefore, JP10 and decane were compared to choose the best candidate for liquid-fuel PDE studies.
This paper was based on work that was presented at the 20th International Colloquium on the Dynamics of Explosions and Reactive
Systems, Montreal, Canada, July 31 – August 5, 2005. 相似文献
7.
In this paper, we re-examine a series of gedanken welcher Weg (WW) experiments introduced by Scully, Englert and Walther that contain the essential ideas underlying the quantum eraser. For this purpose we use the Bohm model which gives a sharp picture of the behaviour of the atoms involved in these experiments. This model supports the thesis that interference disappears in such WW experiments, even though the centre of mass wave function remains coherent throughout the experiment. It also shows exactly what it means to say ‘that the interference can be restored by manipulating the WW detectors long after the atoms have passed’. It does not support Wheeler’s notion that ‘the past is undefined and undefinable without the observation (in the present)’. 相似文献
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超细Sr2CeO4 粉体微乳液-高温法制备条件的正交试验及其发光性能研究 总被引:2,自引:0,他引:2
本文首先利用正交试验确定了微乳液-高温法合成蓝色发光Sr2CeO4超细粉体的最佳制备条件。接着研究了最佳条件下制备的Sr2CeO4超细粉体的性能。场发射扫描电镜(FE-SEM)显示,在850 ℃、900 ℃、1 000 ℃或者更高温度下退火4 h制备的粉体的形状分别呈球状、梭状和球状,平均粒径分别在100 nm左右和1 μm以内。X射线粉末衍射数据分析表明,该超细粉体属于正交晶系。室温下的光致发光光谱显示,该粉体的激发光谱有3个激发峰,主峰分别位于262 nm、281 nm和341 nm,而其发射光谱只呈现出1个发射峰,主峰位于约470 nm。与高温固相制备方法相比,微乳液-高温法可以在较低温度下制备出超细的粉体,而且它不但在262 nm处出现了一个新的激发峰,主激发峰和发射峰的位置也分别蓝移了大约30 nm和12 nm。 相似文献
10.
Labeling experiments using several deuterated lipids were pursued to study the biosynthesis of macrocyclic isoprenoidal lipids of thermophilic methanogenic archaea, Methanothermobacter thermautotrophicus. The isopropylidene terminal of geranylgeranyl group of monomeric precursor appeared to be important for the CC bond formation at the hydrophobic end in the macrocyclic lipids. A mechanism involving a radical trigger at the allylic methyl group is proposed for this CC bond formation. 相似文献