科创中国

Pneumatic actuators and electric actuators have almost been applied to all manufacturing industries.The two kinds of actuators can replace each other in most fields,such as the point to point transmission occasion and some rotating occasions.However,there are very few research results about the advantages and disadvantages of two kinds of actuators under the same working conditions so far.In this paper,a novel comprehensive assessment method,named as overall life cycle comprehensive assessment(OLCCA),is proposed for comparison and assessment of pneumatic and electric actuators.OLCCA contains mechanical properties evaluation(MPE),life cycle cost analysis based on users(LCCABOU)and life cycle environmental impact analysis(LCEIA)algorithm in order to solve three difficult problems:mechanical properties assessment,cost analysis and environmental impact assessment about actuators.The mechanical properties evaluation of actuators is a multi-objective optimization problem.The fuzzy data quantification and information entropy methods are combined to establish MPE algorithm of actuators.Two kinds of pneumatic actuators and electric actuators with similar bearing capacity and similar work stroke were taken for example to verify the correctness of MPE algorithm.The case study of MPE algorithm for actuators verified its correctness.LCCABOU for actuators is also set up.Considering cost complex structure of pneumatic actuators,public device cost even method(PDCEM)is firstly presented to solve cost division of public devices such as compressors,aftercooler,receivers,etc.LCCABOU method is also effective and verified by the three groups of pneumatic actuators and electric actuators.Finally,LCEIA model of actuators is established for the environmental impact assessment of actuators.LCEIA data collection method and model establishment procedure for actuators are also put forward.With Simapro 7,LCEIA comparison results of six actuators can be obtained:Fossil fuels are the major environmental factor of pneumatic and electric actuators;Environmental impact of electric actuator is large than one of pneumatic actuator under the similar mechanical properties and working conditions of pneumatic and electric actuators.The results are correct and correspond with the actual mechanical properties of actuators.This paper proposes a comprehensive evaluation method of the actuators,which can solve the critical problem that similar electromechanical products are very difficult to be compared with each other from the angle of performance,cost and environment impact.

采用文献研究法,对目前我国供应链成本研究成果进行了归纳和总结,内容包括供应链成本分析工具、核算体系、影响因素、优化与控制方法、模型建立、供应链成本控制实际应用以及绿色供应链成本;通过对我国现有研究成果的分析,指出了我国供应链成本研究领域的不足以及未来的研究课题.

Drill sampling has been widely employed as an effective way to acquire deep samples in extraterrestrial exploration. A novel sampling method, namely, flexible-tube coring, was adopted for the Chang'e mission to acquire drilling cores without damaging stratification information. Since the extraterrestrial environment is uncertain and different from the terrestrial environment, automated drill sampling missions are at risk of failure. The principles of drilling and coring for the lunar subsurface should be fully tested and verified on earth before launch. This paper proposes a test-bed for conducting the aforementioned experiments on earth. The test-bed comprises a rotary-percussive drilling mechanism, penetrating mechanism, drilling medium container, and signal acquisition and control system. For granular soil, coring experiments indicate that the sampling method has a high coring rate greater than 80%. For hard rock, drilling experiments indicate that the percussive frequency greatly affects the drilling efficiency. A multi-layered simulant composed of granular soil and hard rock is built to test the adaptability of drilling and coring. To tackle complex drilling media, an intelligent drilling strategy based on online recognition is proposed to improve the adaptability of the sampling drill. The primary features of this research are the proposal of a scheme for drilling and coring a test-bed for validation on earth and the execution of drilling experiments in complex media.

基于PKI的WTLS协议涉及复杂的证书操作,需耗费较大的通信和计算开销,且缺乏对服务器证书的有效性检查.引入可信证书验证代理(TCVP)和证书有效性凭据(CVT)等概念,由TCVP为无线通信节点(WN)生成短时有效的CVT,WN通过交换CVT来完成证书的有效性检查和公钥交换.基于此,提出了一种通用无线认证协议(GWAP).在GWAP框架下,采用ECC算法设计了一种具体的无线安全认证协议,并进行了效率分析.结果表明,该协议在确保安全的前提下降低了通信开销.

Iterative methods based on finite element simulation are effective approaches to design mold shape to compensate springback in sheet metal forming.However,convergence rate of iterative methods is difficult to improve greatly.To increase the springback compensate speed of designing age forming mold,process of calculating springback for a certain mold with finite element method is analyzed.Springback compensation is abstracted as finding a solution for a set of nonlinear functions and a springback compensation algorithm is presented on the basis of quasi Newton method.The accuracy of algorithm is verified by developing an ABAQUS secondary development program with MATLAB.Three rectangular integrated panels of dimensions 710 mm′750 mm integrated panels with intersected ribs of 10 mm are selected to perform case studies.The algorithm is used to compute mold contours for the panels with cylinder,sphere and saddle contours respectively and it takes 57%,22%and 33%iterations as compared to that of displacement adjustment(DA)method.At the end of iterations,maximum deviations on the three panels are 0.618 4 mm,0.624 1 mm and 0.342 0 mm that are smaller than the deviations determined by DA method(0.740 8 mm,0.740 8 mm and 0.713 7 mm respectively).In following experimental verification,mold contour for another integrated panel with 400 mm*380 mm size is designed by the algorithm.Then the panel is age formed in an autoclave and measured by a three dimensional digital measurement devise.Deviation between measuring results and the panel's design contour is less than 1 mm.Finally,the iterations with different mesh sizes(40 mm,35mm,30 mm,25 mm,20 mm)in finite element models are compared and found no considerable difference.Another possible compensation method,Broyden-Fletcher-Shanmo method,is also presented based on the solving nonlinear functions idea.The Broyden-Fletcher-Shanmo method is employed to compute mold contour for the second panel.It only takes 50%iterations compared to that of DA.The proposed method can serve a faster mold contour compensation method for sheet metal forming.

多年调节水库调节性能较高,其兴利库容对整个工程规模的确定至关重要.以贵州省麻江县上寨水库多年调节水库为例,通过对水库的径流系列进行分析,采用时历法和数理统计法对水库的兴利库容进行计算,对该水库的兴利库容计算结果进行了评价,并对多年调节水库兴利调节中采用的基础资料及计算方法进行了简要分析.

Steering control of a capsule robot in curve environment by magnetic navigation is not yet solved completely.A petal-shaped capsule robot with less steering resistance based on multiple wedge effects is presented,and an optimization method with two processes for determining the orientation of a pre-applied universal magnetic spin vector is proposed.To realize quick and non-contact steering swimming,a fuzzy comprehensive evaluation method for optimizing the steering driving angle is presented based on two evaluation indexes including the average steering speed and the average steering trajectory deviation,achieving the initial optimal orientation of a universal magnetic spin vector.To further reduce robotic magnetic vibration,a main target method for optimizing its final orientation,which is used for fine adjustment,is employed under the constrains of the magnetic moments.Swimming experimental results in curve pipe verified the effectiveness of the optimization method,which can be effectively used to realize non-contact steering swimming of the petal-shaped robot and reduce its vibration.

Common compliant joints generally have limited range of motion,reduced fatigue life and high stress concentration.To overcome these shortcomings,periodically corrugated cantilever beam is applied to design compliant joints.Basic corrugated beam unit is modeled by using pseudo-rigid-body method.The trajectory and deformation behavior of periodically corrugated cantilever beam are estimated by the transformation of coordinate and superposition of the deformation of corrugated beam units.Finite element analysis(FEA)is carried out on corrugated cantilever beam to estimate the accuracy of the pseudo-rigid-body model.Results show that the kinetostatic behaviors obtained by this method,which has a relative error less than 6%,has good applicability and corrugated cantilever beam has the characteristics of a large range of motion and high mechanical strength.The corrugated cantilever beam is then applied to design a flexible rotational joint to obtain a larger angle output.The paper proposes a pseudo-rigid-body model for corrugated cantilever beam and designed a flexible rotational joint with large angle output.

The existing researches of the evaluation method of ride comfort of vehicle mainly focus on the level of human feelings to vibration. The level of human feelings to vibration is influenced by many factors, however, the ride comfort according to the common principle of probability and statistics and simple binary logic is unable to reflect these uncertainties. The random fuzzy evaluation model from people subjective response to vibration is adopted in the paper, these uncertainties are analyzed from the angle of psychological physics. Discussing the traditional evaluation of ride comfort during vehicle vibration, a fuzzily random evaluation model on the basis of annoyance rate is proposed for the human body's subjective response to vibration, with relevant fuzzy membership function and probability distribution given. A half-car four degrees of freedom suspension vibration model is described, subject to irregular excitations from the road surface, with the aid of software Matlab/Simulink. A new kind of evaluation method for ride comfort of vehicles is proposed in the paper, i.e., the annoyance rate evaluation method. The genetic algorithm and neural network control theory are used to control the system. Simulation results are obtained, such as the comparison of comfort reaction to vibration environments between before and after control, relationship of annoyance rate to vibration frequency and weighted acceleration, based on ISO2631/1(1982), ISO 2631–1(1997) and annoyance rate evaluation method, respectively. Simulated assessment results indicate that the proposed active suspension systems prove to be effective in the vibration isolation of the suspension system, and the subjective response of human being can be promoted from very uncomfortable to a little uncomfortable. Furthermore, the novel evaluation method based on annoyance rate can further estimate quantitatively the number of passengers who feel discomfort due to vibration. A new analysis method of vehicle comfort is presented.

Vehicle mass is an important parameter in vehicle dynamics control systems.Although many algorithms have been developed for the estimation of mass,none of them have yet taken into account the different types of resistance that occur under different conditions.This paper proposes a vehicle mass estimator.The estimator incorporates road gradient information in the longitudinal accelerometer signal,and it removes the road grade from the longitudinal dynamics of the vehicle.Then,two different recursive least square method(RLSM)schemes are proposed to estimate the driving resistance and the mass independently based on the acceleration partition under different conditions.A 6 DOF dynamic model of four In-wheel Motor Vehicle is built to assist in the design of the algorithm and in the setting of the parameters.The acceleration limits are determined to not only reduce the estimated error but also ensure enough data for the resistance estimation and mass estimation in some critical situations.The modification of the algorithm is also discussed to improve the result of the mass estimation.Experiment data on a sphalt road,plastic runway,and gravel road and on sloping roads are used to validate the estimation algorithm.The adaptability of the algorithm is improved by using data collected under several critical operating conditions.The experimental results show the error of the estimation process to be within 2.6%,which indicates that the algorithm can estimate mass with great accuracy regardless of the road surface and gradient changes and that it may be valuable in engineering applications.This paper proposes a recursive least square vehicle mass estimation method based on acceleration partition.