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    • 簡(jiǎn)介:CONTROLOFMOBILEMANIPULATORUSINGTHEDYNAMICALSYSTEMSAPPROACHLARSPETERELLEKILDEHENRIKICHRISTENSENABSTRACTTHECOMBINATIONOFAMOBILEPLATFORMANDAMANIPULATOR,KNOWNASAMOBILEMANIPULATOR,PROVIDESAHIGHLYFLEXIBLESYSTEM,WHICHCANBEUSEDINAWIDERANGEOFAPPLICATIONS,ESPECIALLYWITHINTHEFIELDOFSERVICEROBOTICSONEOFTHECHALLENGESWITHMOBILEMANIPULATORSISTHECONSTRUCTIONOFCONTROLSYSTEMS,ENABLINGTHEROBOTTOOPERATESAFELYINPOTENTIALLYDYNAMICENVIRONMENTSINTHISPAPERWEWILLPRESENTWORKINWHICHAMOBILEMANIPULATORISCONTROLLEDUSINGTHEDYNAMICALSYSTEMSAPPROACHTHEMETHODPRESENTEDISATWOLEVELAPPROACHINWHICHCOMPETITIVEDYNAMICSAREUSEDBOTHFORTHEOVERALLCOORDINATIONOFTHEMOBILEPLATFORMANDTHEMANIPULATORASWELLASTHELOWERLEVELFUSIONOFOBSTACLEAVOIDANCEANDTARGETACQUISITIONBEHAVIORSIINTRODUCTIONTHEMAJORITYOFROBOTICRESEARCHHASINTHELASTDECADESFOCUSEDONEITHERMOBILEPLATFORMSORMANIPULATORS,ANDTHEREHAVEBEENMANYIMPRESSIVERESULTSWITHINBOTHAREASTODAYONEOFTHENEWCHALLENGESISTOCOMBINETHETWOAREAS,INTOSYSTEMS,WHICHAREBOTHHIGHLYMOBILEANDHAVETHEABILITYTOMANIPULATETHEENVIRONMENTESPECIALLYWITHINSERVICEROBOTICSTHEREWILLBEANINCREASEDNEEDFORSUCHSYSTEMSTHEDEMOGRAPHYOFMOSTWESTERNCOUNTRIESCAUSESTHENUMBEROFOLDPEOPLEINNEEDOFCARETOINCREASE,WHILETHEREWILLBELESSWORKINGTOACTUALLYSUPPORTTHEMTHISREQUIRESANINCREASEDAUTOMATIONOFTHESERVICESECTOR,FORWHICHROBOTSABLETOOPERATESAFELYININDOORANDDYNAMICENVIRONMENTSAREESSENTIALTHEPLATFORMUSEDINTHISWORKISSHOWNINFIGURE1,ANDCONSISTOFASEGWAYRMP200WITHAKUKALIGHTWEIGHTROBOTTHERESULTISAPLATFORMTHATHASARELATIVESMALLFOOTPRINTANDISHIGHLYMANEUVERABLE,MAKINGITWELLSUITEDFORMOVINGAROUNDINANINDOORENVIRONMENTTHEKUKALIGHTWEIGHTROBOTHASAFAIRLYLONGREACHANDHIGHPAYLOADCOMPAREDTOITSOWNWEIGHT,MAKINGITIDEALFORMOBILEMANIPULATIONWHENCONTROLLINGAMOBILEMANIPULATOR,THEREISACHOICEOFWHETHERTOCONSIDERTHESYSTEMASONEORTWOENTITIESIN1AND2THEYDERIVEJACOBIANSFORBOTHTHEMOBILEPLATFORMANDTHEMANIPULATORANDCOMBINETHEMINTOASINGLECONTROLSYSTEMTHERESEARCHREPORTEDIN3AND4,ONTHEOTHERHAND,CONSIDERSTHEMASSEPARATEENTITIESWHENPLANNING,BUTDOINCLUDECONSTRAINTS,SUCHASREACHABILITYANDSTABILITY,BETWEENTHETWOTHECONTROLSYSTEMWEPROPOSEISBASEDONTHEDYNAMICALSYSTEMSAPPROACH5,6ITISDIVIDEDINTOTWOLEVELS,LPELLEKILDEISWITHTHEMAERSKMCKINNEYMOLLERINSTITUTE,FACULTYOFENGINEERING,UNIVERSITYOFSOUTHERNDENMARK,CAMPUSVEJ55,5230ODENSEM,DENMARK,LPEMMMISDUDKHICHRISTENSENISWITHCENTERFORROBOTICSANDINTELLIGENTMACHINES,INTERACTIVECOMPUTING/COLLEGEOFCOMPUTING,GEORGIAINSTITUTEOFTECHNOLOGY,855THSTREET,ATLANTA,GA,USA,HICCCGATECHEDUFIG1PLATFORMCONSISTINGOFASEGWAYRMP200ANDAKUKALIGHTWEIGHTROBOTWHEREWEATTHELOWERLEVELCONSIDERTHEMOBILEPLATFORMANDTHEMANIPULATORASTWOSEPARATEENTITIES,WHICHARETHENCOMBINEDINASAFEMANNERATTHEUPPERLEVELTHEMAINREESARCHOBJECTIVEINTHISPAPERISTODEMONSTRATEHOWTHEDYNAMICALSYSTEMSAPPROACHCANBEAPPLIEDTOAMOBILEMANIPULATORANDUSEDTOCOORDINATEBEHAVIOURSATVARIOUSLEVELSOFCONTROLTHEREMAININGOFTHISPAPERISORGANIZEDASFOLLOWSTHEOVERALLARCHITECTUREISDESCRIBEDINSECTIONII,FOLLOWEDBYTHECONTROLOFTHEMOBILEPLATFORMANDTHEMANIPULATORINSECTIONSIIIANDIVINSECTIONVWEWILLSHOWSOMEEXPERIMENTSBEFORECONCLUDINGTHEPAPERINSECTIONVIHOWEVER,FIRSTASUMMARYOFWORKRELATEDTOTHEDYNAMICALSYSTEMSAPPROACHWILLBEPROVIDEDINSECTIONIAARELATEDWORKTHEDYNAMICALSYSTEMSAPPROACH5,6PROVIDESAFRAMEWORKFORCONTROLLINGAROBOTTHROUGHASETOFBEHAVIORS,SUCHASOBSTACLEAVOIDANCEANDTARGETACQUISITIONEACHBEHAVIOR2009IEEEINTERNATIONALCONFERENCEONROBOTICSANDAUTOMATIONKOBEINTERNATIONALCONFERENCECENTERKOBE,JAPAN,MAY1217,20099781424427895/09/2500?2009IEEE1370DMOBILETHRESHOLDSPECIFIESAMINIMUMDISTANCETOTHETARGETREQUIREDBEFORETHEMOBILEPLATFORMSHOULDMOVETHEMOBILEBEHAVIORHASNOABILITYTOINTERACTANDSUPPRESSOTHERBEHAVIORS,THUSITSCOMPETITIVEINTERACTIONSARESETTO02MANIPULATORACQUISITIONTHISBEHAVIORSHOULDBESTRENGTHENEDWHENTHEMOBILEPLATFORMGETSCLOSETOITSTARGETTHECOMPETITIVEADVANTAGEWILLTHUSBEDEFINEDASΑMANIPACQUISITION?TANHKMANIPΑDTAR?DMANIPTHRESHOLD5THEACTIVATIONDISTANCEDMANIPTHRESHOLDMUSTBEGREATERTHANDMOBILETHRESHOLDTOMAKESURETHEBEHAVIORISACTIVATEDTHISBEHAVIORHASNODIRECTINTERACTIONWITHTHEOTHERS,THUSITSINTERACTIONSARESETTO03MANIPULATORRETRACTTHERETRACTBEHAVIORSHOULDBEACTIVATEDOPPOSITETHEGOALBEHAVIOR,HENCEΑMANIPRETRACT?ΑMANIPACQUISITIONTANHKMANIPΑDTAR?DMANIPTHRESHOLD6EXCEPTFORAVERYSMALLTRANSITIONTIMETHISPREVENTSTHEMANIPULATORSACQUISITIONANDRETRACTBEHAVIORSFROMBEINGACTIVEATTHESAMETIME,THUSWECANSETΓRETRACT,ACQUISITION0FORTHEINTERACTIONBETWEENTHERETRACTANDTHEMOBILEBEHAVIORSWEWISHRETRACTTODEACTIVATEMOBILEWHENTHEMANIPULATORISFARAWAYFROMITSHOMECONFIGURATIONTHEINTERACTIONISTHEREFOREDEFINEDASΓRETRACT,MOBILE121TANHKRETRACTΓ?QCURRENT?QHOME???Q7INWHICHQCURANDQHOMEARETHEMANIPULATORSCURRENTANDHOMECONFIGURATIONS,?QSPECIFIESAPROXIMITYDISTANCEAROUNDQHOMEANDKRETRACTΓSPECIFIESHOWQUICKLYTHEINTERACTIONCHANGESIIICONTROLOFTHEMOBILEPLATFORMTHECONTROLOFTHEMOBILEPLATFORMISCONSTRUCTEDVERYSIMILARTOWHATISPRESENTEDIN14,BUTWITHAFEWDIFFERENCESFIRSTOFALLONLYTHETARGETACQUISITIONANDOBSTACLEAVOIDANCEBEHAVIORSAREUSEDTHECORRIDORFOLLOWINGANDWALLAVOIDANCEARENOTINCLUDED,BUTWOULDBESTRAIGHTFORWARDEXTENSIONSTHESECONDAREAINWHICHTHISWORKDIFFERSISINHOWTHEDENSITYOFOBSTACLESISCALCULATEDDETAILSOFTHISWILLBEEXPLAINEDINSECTIONIIIDFORTHECONTROLTOACTUALLYBEABLETONAVIGATETHROUGHTHEENVIRONMENT,ITISNECESSARYWITHAMETHODFORLOCALIZATIONTHEAPPROACHWEHAVEUSEDISBASEDONTHEMETHODDESCRIBEDIN20,WHICHCOMBINESODOMETRYANDLASERRANGEMEASUREMENTSMATCHEDAGAINSTAMAPOFDOMINATINGLINESINTHEENVIRONMENTTHECONTROLOFTHEPLATFORMISENCODEDUSINGTHEORIENTATION,Φ,ANDTHEVELOCITY,V,WHICHRESULTSINASYSTEMWITHCONTROLINPUTSFMOBILE{˙Φ,˙V}THEVALUESOFFMOBILEAREMADEUPOFTWOPARTS,FMOBILETARANDFMOBILEOBS,WHICHARECOMBINEDASFMOBILEWMOBILETARFMOBILETARWMOBILEOBSFMOBILEOBS8WHERETHEWEIGHTSWMOBILETARANDWMOBILEOBSARECONTROLLEDUSINGEQ3WITHTHECOMPETITIVEADVANTAGEANDINTERACTIONSDESCRIBEDINSECTIONIIICASCONTROLINPUTWENEEDEXPRESSIONSFORTHELEFTANDRIGHTWHEELSOFTHEMOBILEPLATFORM,DENOTEDULEFTANDURIGHT,RESPECTIVELYTOOBTAINTHESE˙VISINTEGRATEDTOGETV,WHICHTOGETHERWITHTHEDESIREDROTATIONALVELOCITY˙Φ,THEWHEELDIAMETERDWHEELANDTHEDISTANCEBETWEENTHEWHEELSDWHEELBASECANBEUSEDTOCALCULATETHECONTROLINPUTSASULEFT˙Φ,VVΠDWHEEL??29URIGHT˙Φ,VVΠDWHEEL?21011WHERE?ISTHENEEDEDDIFFERENCEINWHEELSPEEDGIVENBY?˙ΦDWHEELBASEDWHEELΠ12ATARGETDYNAMICSTHEBASICDYNAMICSOFTHISTARGETBEHAVIORISFMOBILE,ΦTARΦΛMOBILE,ΦTARSINΨTAR?Φ13FMOBILE,VTARVΛMOBILE,VTARMINKMOBILETARDTAR,VMAX?V14INWHICHΛMOBILE,ΦTARANDΛMOBILE,VTARARETHESTRENGTHSOFTHEATTRACTORSANDΨTARISTHEDIRECTIONTOTHETARGETTHECONSTANTKMOBILETARGIVESTHERELATIONBETWEENTHEDISTANCETOTHETARGETANDTHEDESIREDVELOCITYFINALLYVMAXISTHEMAXIMALVELOCITYALLOWEDFORTHEMOBILEPLATFORMBOBSTACLEDYNAMICSGIVENADISTANCEDOBS,IANDADIRECTIONΨITOTHEI’THOBSTACLE,THEDYNAMICSOFTHEOBSTACLEAVOIDANCEAREFMOBILE,ΦOBS,IΛMOBILE,ΦOBSΦ?ΨIE?CMOBILEOBSDOBS,IE?Φ?ΨI22Σ2I15FMOBILE,VOBS,I????ΛMOBILE,VOBSV?VMINFORVVMAX,I16WHEREVMAX,IMAXKOBSDOBS,I,VMINTHEDYNAMICSOFΦCONSISTSOF3ELEMENTSITHERELATIVEDIRECTIONTOTHEOBSTACLEΦ?ΨI,IIASCALEE?CMOBILEOBSDOBS,IINWHICHCMOBILEOBSDETERMINESTHEDECAYDEPENDINGOFTHEDISTANCE,DOBS,I,ANDIIIASCALE,E?Φ?ΨI22Σ2I,BASEDONTHEDIRECTIONTOTHEOBSTACLEANDWITHΣIARCSIN1DS1DOBS,IENSURINGTHEGENERATIONOFANATTRACTORBETWEENTWOOBSTACLESIFTHEROBOTCANPASSTHROUGHWHILEENSURINGTHESAFETYDISTANCEDSSEE14FORMOREDETAILSFORFMOBILE,VOBS,ITHEEXPRESSIONADJUSTSTHEVELOCITYTOWARDSKOBSDOBS,I,BUTENSURESTHATAMINIMUMVELOCITYOFVMINISKEPTTOOBTAINTHEVALUEOFFMOBILEOBSWESUMOVERALLOBSTACLESFMOBILEOBS?FMOBILE,ΦOBSFMOBILE,VOBS??I?FMOBILE,ΦOBS,IFMOBILE,VOBS,I?171372
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    • 簡(jiǎn)介:INFLUENCEOFFRACTUREFILLINGONMECHANICALBEHAVIOROFLOESSMINGJINGJIANG1,HAIJUNHU2,JIANBINGPENG3,ANDXINXINWANG41PROFESSOR,DEPARTMENTOFGEOTECHNICALENGINEERING,TONGJIUNIVERSITY,SHANGHAI,200092,CHINAMINGJINGJIANGTONGJIEDUCN2PHDCANDIDATE,DEPARTMENTOFGEOTECHNICALENGINEERING,TONGJIUNIVERSITY,SHANGHAI,200092,CHINAHUHAIJUN163COM3DEAN,SCHOOLOFGEOLOGICALENGINEERINGANDSURVEYING,CHANG’ANUNIVERSITY,XI’AN,SHANXI,710054,CHINADICEXY_1CHDEDUCN4MASTERCANDIDATE,DEPARTMENTOFGEOTECHNICALENGINEERING,TONGJIUNIVERSITY,SHANGHAI,200092,CHINAWANGTIAN753214163COMABSTRACTNATURALLOESSANDNATURALLOESSWITHFILLINGATGROUNDFISSURESINJINGYANG,SHANXIPROVINCE,CHINA,WEREEXPERIMENTALLYSTUDIEDTOINVESTIGATETHEEFFECTOFCRACKFILLINGONTHEMECHANICALBEHAVIOROFLOESSANDTHECRACKDEVELOPMENTBYCONVENTIONALTRIAXIALCOMPRESSIONTESTCTC,REDUCEDTRIAXIALCOMPRESSIONTESTRTCANDREDUCEDTRIAXIALEXTENSIONTESTRTEUNDERCONSTANTWATERCONTENTCONDITIONTHETESTSWERECARRIEDOUTATTHECONSOLIDATIONPRESSURENEARINSITUSTRESSDIFFERENTFAILURETYPESWEREOBSERVEDINTHETESTSINTHECTCTEST,EACHSOILDEMONSTRATESSTRAINHARDENINGBEHAVIOURANDSHEARFAILUREPLANEISTHEINTERFACEBETWEENLOESSANDFILLINGFORTHENATURALLOESSWITHFILLINGSAMPLEINRTCTEST,EACHSOILBEHAVESSTRAINSOFTENINGSHEARFAILUREPLANESARECONJUGATEPLANESFORTHELOESSSAMPLEANDSHEARFAILUREPLANEISTHEINTERFACEBETWEENLOESSANDFILLINGFORTHENATURALLOESSWITHFILLINGSAMPLEINRTETEST,RUPTUREISOBSERVEDANDTHEFAILURESURFACEDOESNOTCROSSTHEFILLINGFORNATURALLOESSWITHFILLING,THATIS,THEFAILURESURFACELIESINLOESSTOTALLYTHESHEARSTRENGTHOFLOESSWITHFILLINGISALMOSTTHESAMEASTHATOFLOESSINTRODUCTIONALARGENUMBEROFGROUNDFISSURESHAVEBEENFOUNDINLOESSINCHINA,ESPECIALLYINTHESHANXIPROVINCEWANGETAL1989PENGETAL1992LIETAL2000ZHAOETAL2009MECHANICALANDPHYSICALPROPERTIESOFSOILSAROUNDGROUNDFISSUREHAVEBEENSTUDIEDLUETAL2009HUETAL2009LUETAL2009EXPERIMENTALLYSTUDIEDLOESSWITHFILLINGBYCONVENTIONALTRIAXIALCOMPRESSIONTESTSANDFOUNDTHATSTRESSSTRAINRELATIONCHANGESFROMSTRAINSOFTENINGTOSTRAINHARDENINGWITHTHEINCREASEOFCONSOLIDATIONPRESSURETHESHEARBANDOFTENAPPEARSATTHEINTERFACEBETWEENLOESSANDFILLINGFORTHESAMPLEWITHTHEINCLINATIONANGLEOFFILLING?60?UNDERLOWCONSOLIDATIONPRESSUREANDTHE117PAVEMENTANDGEOTECHNICALENGINEERINGFORTRANSPORTATIONDOWNLOADEDFROMASCELIBRARYORGBYTONGJIUNIVERSITYON02/05/15COPYRIGHTASCEFORPERSONALUSEONLYALLRIGHTSRESERVEDSPECIMENPREPARATIONANDCHARACTERISTICSOFTHETESTEDSOILSSAMPLINGLOCATIONANDPREPARATIONOFSPECIMENSTHESOILSUSEDINTHISRESEARCHARENATURALLOESSANDNATURALLOESSWITHFILLINGATGROUNDFISSURESINJINGYANG,CHINABLOCKSOFSAMPLESWERECOLLECTEDBYTHECUTTINGMETHODAFTERSTEPPEDEXPLORATORYTRENCHESHADBEENEXCAVATEDFIG1PRESENTSTHECROSSSECTIONOFGEOLOGY,THEDISTRIBUTIONOFFISSURESANDTHESAMPLINGLOCATIONTHEBIGDARKREGIONINBOTTOMLEFTOFTHEMAPISBIGCRACKFILLING,WHICHMAYFORMSAFTEREARTHQUAKEOTHERFISSURESFORMDUETOTENSIONSTRESSINHORIZONTALDIRECTIONAFTERTHEFORMATIONOFTHEBIGCRACKFILINGTHESEFISSURESARENEARLYVERTICAL,ANDTHEWIDTHOFFISSURESISABOUT1MM200MMANDDECREASESWITHDEPTHLOESSSAMPLECONTAININGFRACTUREFILLINGWASCOLLECTEDATF12FISSURE12INDEPTHOF105MTHELOESSISQ3LOESSMALANLOESSANDTHECOLORISYELLOWFILLINGABOUT57MMINWIDTHEXISTSINTHESAMPLEOFLOESSASILLUSTRATEDINFIG2NATURALLOESSSPECIMENSANDNATURALLOESSWITHFILLINGSPECIMENSWEREPREPAREDFORTHETRIAXIALTESTANDTHEANGLEBETWEENTHEPLANEOFFILLINGINLOESSANDTHEENDPLANEOFSPECIMENIS45?FORTRIAXIALSAMPLESOFLOESSWITHFILLINGCONVENTIONALLY,THEDIRECTIONINWHICHSTRESSREDUCEDISHORIZONTALDURINGEXCAVATIONANDCONSTRUCTIONOFTUNNELTHESAMPLINGDIRECTIONISSHOWNINFIG3FORTHECTCANDTHERTCSAMPLES,THESAMPLINGDIRECTIONISNEARLYVERTICALFORTHERTESAMPLES,THESAMPLINGDIRECTIONISHORIZONTALTHISCANENSURETHEDIRECTIONINWHICHSTRESSREDUCEDISALMOSTTHESAMEFORTHERTCTESTANDTHERTETESTDURINGTHESPECIMENPREPARATION,THEINITIALWATERCONTENTOFEACHSPECIMENWASMEASUREDAFTERPREPARATION,THESPECIMENWASWRAPPEDUPINTHEPLASTICFILMANDPLACEDINTHEMOISTCHAMBERTHEWATERCONTENTOFTHESPECIMENWASADJUSTEDTO15BYAIRDRYINGTHESPECIMENORADDINGWATERTOTHESPECIMENAFTERITSINITIALWATERCONTENTWASKNOWNTHENTHESPECIMENWASWRAPPEDUPINTHEPLASTICFILMAGAINANDSTAYEDINTHEMOISTCHAMBERFORMORETHANTWODAYSINORDERTOENSURETHATTHEWATERDISTRIBUTESEVENLYINTHESAMPLEMANYRESEARCHERSZHANGETAL2006YANGETAL2010ADOPTTHISMETHODTOOBTAINTHELOESSSAMPLEWITHSPECIFICWATERCONTENTFIG1SAMPLINGLOCATION,GEOLOGICALFIG2COLLECTEDSAMPLEPROFILEANDDISTRIBUTIONOFFISSURESFILLINGGEOTECHNICALPRACTICEPUBLICATIONNO8119PAVEMENTANDGEOTECHNICALENGINEERINGFORTRANSPORTATIONDOWNLOADEDFROMASCELIBRARYORGBYTONGJIUNIVERSITYON02/05/15COPYRIGHTASCEFORPERSONALUSEONLYALLRIGHTSRESERVED
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      上傳時(shí)間:2024-03-13
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    • 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TROOMTEMPERATUREAND55RELATIVEHUMIDITYRHTHETENSILETESTSWEREPERFORMEDATACROSSHEADSPEEDOF500MM/MINREPORTEDVALUESWERETHEAVERAGEVALUESOFFIVEINDIVIDUALMEASUREMENTSRESULTSANDDISCUSSIONMECHANICALPROPERTIESOFCPECGHEATHESTRUCTUREOFCPECGHEAWASCHARACTERIZEDBYFTIR,1HNMR,GELPERMEATIONCHROMATOGRAPHYGPCAND02004006008001284CPECPECGHEASTRESSMPASTRAIN16FIG2STRESS–STRAINCURVESOFCHLORINATEDPOLYETHYLENECPECLWT36ANDPOLYETHYLENEINSITUCHLORINATINGGRAFT2HYDROXYETHYLACRYLATECPECGHEACLWT361TABLE1MECHANICALPROPERTIESOFCHLORINATEDPOLYETHYLENECPEANDPOLYETHYLENEINSITUCHLORINATINGGRAFT2HYDROXYETHYLACRYLATECPECGHEASAMPLESCHLORINECONTENTWTYOUNG’SMODULUSMPATENSILESTRENGTHMPAELONGATIONATBREAKHARDNESSSHOREACPE36017094364775CPECGHEA36107014880171HYDROXYLFUNCTIONALIZEDCHLORINATEDPOLYETHYLENE167
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      上傳時(shí)間:2024-03-14
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    • 簡(jiǎn)介:中文中文5350字文獻(xiàn)出處文獻(xiàn)出處DUREJKOT,ZI?TALAM,?AZI?SKAM,ETALSTRUCTUREANDPROPERTIESOFTHEFE3ALTYPEINTERMETALLICALLOYFABRICATEDBYLASERENGINEEREDNETSHAPINGLENSJMATERIALSSCIENCEMICHA?ZI?TALAMAGDA?AZI?SKASTANIS?AWLIPI?SKIWOJCIECHPOLKOWSKI,TOMASZCZUJKO,ROBERTAVARIN摘要摘要本文介紹了激光近凈成形(LENS)技術(shù)制造的FEAL035ZR01B合金的微觀組織結(jié)3構(gòu)和力學(xué)性能。通過選擇合理的工藝技術(shù)參數(shù),可以獲得較低孔隙率和形狀一致性較好的結(jié)構(gòu)。獲得的FEAL基合金樣品化學(xué)成分均勻,而且成形結(jié)構(gòu)底部為柱狀晶,在中心和邊3緣為等軸晶。相分析結(jié)果表明,(成形結(jié)構(gòu)中)存在B2結(jié)構(gòu)的FEAL金屬間化合物相組3織和(FE,ALZRLAVES相組織。在450℃下進(jìn)行50小時(shí)等溫退火將會(huì)使B2向平衡的DO2結(jié)構(gòu)轉(zhuǎn)變。雖然B2結(jié)構(gòu)的FEAL基合金成形樣品退火后轉(zhuǎn)變?yōu)镈O結(jié)構(gòu),但屈服強(qiáng)度333和極限抗拉強(qiáng)度并未有明顯變化。然而,DO結(jié)構(gòu)將會(huì)導(dǎo)致伸長率顯著增加,特別是在升3高溫度情況下更加明顯。1引言引言基于諸如鐵,鈦,鎳,鈮和鈷的過渡金屬的鋁化物的有序金屬間合金可以在高于現(xiàn)代超級(jí)合金的溫度下使用,同時(shí)提供較好的比力學(xué)性能,這主要是因?yàn)樗鼈兊拿芏容^低,一般在54?67G/CM3。含有大量鋁元素(1020%)形成不透性氧化物層,可以接近1000℃的溫度下防止氧化,硫化和滲碳。FEAL(B2)和FEAL(DO)金屬間相在600℃33以上具有高的抗氧化,耐腐蝕,耐磨損和抗蠕變性。通過與MO,HF,NB,ZR和TA的合金化獲得更好的抗蠕變性712。摻雜ZR導(dǎo)致形成硬的(FE,ALZR拉夫斯相沉淀物,改222應(yīng)用材料和方法應(yīng)用材料和方法摻雜有鋯和硼的球形FEAL粉末具有以下標(biāo)準(zhǔn)化學(xué)組成FE30AL03ZR01B(AT3%),購自LERMPS(法國)。對(duì)初始粉末進(jìn)行粒度分布評(píng)價(jià)和化學(xué)元素組成分析。用KAMIKAIPSUA裝置(KAMIKAINSTRUMENTS,波蘭)進(jìn)行粒度的測(cè)量。使用所提供的軟件對(duì)至少100,000個(gè)顆粒進(jìn)行等效粒徑DI的分析。LENSMR7裝置制造FEAL基化合物樣品,調(diào)整以下工藝參數(shù)激光功率PW,進(jìn)3料速率FMM/S和粉末流速PFG/MIN。使用BP97D電子放電加工裝置(ZAPBP,波蘭)在垂直于襯底的方向切下LENS制造的樣品。隨后,對(duì)樣品進(jìn)行金相制備,例如用5002400SIC紙研磨,隨后用3025ΜM金剛石懸浮液拋光。在使用顯微鏡觀察之前,使用丙酮脫脂將分析的表面在超聲波清洗器中清洗干凈。通過使用以下試劑的化學(xué)蝕刻顯示顯微結(jié)構(gòu)細(xì)節(jié)33%CHCOOH33%HNO33%HO1%HF。332使用NIKONECLIPSEMA200LIGHTMI對(duì)LENS制造的樣品晶粒結(jié)構(gòu)進(jìn)行評(píng)估(NIKONINSTRUMENTSEUROPE,NETHERLANDS)。根據(jù)適當(dāng)?shù)墓酱_定以下立體參數(shù)●等效圓直徑ECD4/ECDP??其中P表示被分析對(duì)象的面積●形狀長寬比K?24/KPO???其中P表示分析的晶粒的面積,O表示分析對(duì)象的電路孔隙率孔隙的面積分?jǐn)?shù)。通過與FEIQUANTA3D場(chǎng)發(fā)射槍掃描電子顯微鏡(FEI,USA)耦合的能量色散光譜(EDS)裝置對(duì)樣品的選定區(qū)域中的化學(xué)組成進(jìn)行定性和定量分析。在20120°的2范圍內(nèi)進(jìn)行,步長為002°。使用配備有鈷靶(波長為017889NM?的單色輻射)的SEIFERTXRD3003衍射儀(GEMEASUREMENTS&CONTROL,德國)進(jìn)行X射線衍射(XRD)相分析。為了驗(yàn)證應(yīng)用加工對(duì)所研究樣品的機(jī)械性能的影響,進(jìn)行了維氏顯微硬度(SHIMADZU,JAPAN)測(cè)量和拉伸測(cè)試。前者在樣品的縱向截面上使用100G負(fù)載和5秒加
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    • 簡(jiǎn)介:中文中文4250字文獻(xiàn)出處文獻(xiàn)出處MOUHMIDB,IMADA,BENSEDDIQN,ETALASTUDYOFTHEMECHANICALBEHAVIOUROFAGLASSFIBREREINFORCEDPOLYAMIDE6,6EXPERIMENTALINVESTIGATIONJPOLYMERTESTING,2006,254544552玻璃纖維增強(qiáng)尼龍66的力學(xué)性能研究實(shí)驗(yàn)研究BMOUHMIDAIMADNBENSEDDIQSBENMEDAKHèNEAMAAZOUZ摘要摘要在這個(gè)實(shí)驗(yàn)工作中,我們研究了一種經(jīng)常使用在汽車工業(yè)的短玻璃纖維增強(qiáng)聚酰胺的力學(xué)性能。為了研究玻璃纖維含量、溫度和應(yīng)變速率的影響,我們?cè)跒樘畛涞木埘0泛筒AЮw維增強(qiáng)聚酰胺上面進(jìn)行了一系列的不同質(zhì)量分?jǐn)?shù)的單軸拉伸載荷,分別是質(zhì)量分?jǐn)?shù)為15、30和50。實(shí)驗(yàn)結(jié)果表明所研究的復(fù)合材料是一種應(yīng)變速率和溫度與纖維體積分?jǐn)?shù)有關(guān)的材料。彈性模量和拉伸強(qiáng)度都隨著應(yīng)變速率增加,隨著溫度減少。玻璃纖維增強(qiáng)尼龍66在其機(jī)械強(qiáng)度表現(xiàn)出改善。標(biāo)準(zhǔn)化模數(shù)的演變和拉伸強(qiáng)度正如相對(duì)密度的函數(shù)一樣可以由一種類型的冪函數(shù)來說明。聲發(fā)射(AE)技術(shù)被認(rèn)為是用于非破壞性測(cè)試和材料評(píng)估的一個(gè)有效工具,聲發(fā)射技術(shù)已被用于確定損傷閾值,并在復(fù)合材料的研究中獲取有關(guān)斷裂機(jī)制的信息。掃描電子顯微鏡(SEM)分析被應(yīng)用在斷面上進(jìn)行可視化的損傷過程包括纖維斷裂、基體破裂和界面破裂。關(guān)鍵詞尼龍66,玻璃纖維,機(jī)械行為,損壞,聲發(fā)射1簡(jiǎn)介玻璃纖維增強(qiáng)聚酰胺在許多應(yīng)用中以增長的頻率被持續(xù)使用,如壓力功能性汽車零部件(燃料注射導(dǎo)軌,轉(zhuǎn)向柱開關(guān))和運(yùn)動(dòng)休閑中的安全部分(滑雪板綁定)。因其剛度,韌性和耐動(dòng)態(tài)疲勞,這些材料是眾所周知的。纖維增強(qiáng)的熱塑性塑料化合物可通過常規(guī)的方法,如注射成型進(jìn)行處理,并相比未增強(qiáng)的化合物提供改進(jìn)機(jī)械性能。這些復(fù)合材料在許多工程應(yīng)用中因?yàn)樗鼈円子谥圃炜梢耘c金屬相競(jìng)爭(zhēng),重量輕并且經(jīng)濟(jì)。但是,也有關(guān)于材料缺陷的問題,如空隙和裂縫,這些空隙和裂縫可能存在或在三個(gè)區(qū)域之一引發(fā)基質(zhì),纖維或纖維/基體界面1。含有短纖維的熱塑性復(fù)合材料的機(jī)械性能成為了一直備受關(guān)注的主題。這些性能是由于纖維和基體特性與橫跨纖維/基體界面?zhèn)鬟f應(yīng)力的能力的結(jié)合,并且依賴于噴射條件,如螺桿和機(jī)筒的參數(shù),模具溫度和設(shè)計(jì)25。如纖維的比例、直徑,長度、方向和界面強(qiáng)度等變量在THOMASSON6和邵云福7所做的研究中對(duì)于熱塑性復(fù)合材料的最終性括在此情況下所有類型的損害。3結(jié)果與討論在這部分中,我們就一個(gè)內(nèi)在參數(shù)(玻璃纖維含量)和兩個(gè)外部參數(shù)(應(yīng)變速率Ε和溫度T)對(duì)拉伸彈性模量E,拉伸強(qiáng)度ΣR和破壞應(yīng)變?chǔ)的三個(gè)機(jī)械特性的的影響進(jìn)行了研究。31玻璃纖維含量的影響圖31表示出所研究的復(fù)合材料在T20℃和Ε56103S1條件下得到的應(yīng)力應(yīng)變曲線。我們可以注意到增強(qiáng)材料表現(xiàn)出高的強(qiáng)度水平和低的變形能力的典型的應(yīng)力應(yīng)變曲線。確實(shí),玻璃纖維增強(qiáng)尼龍66呈現(xiàn)脆性行為具有約55%破壞應(yīng)變,而未增強(qiáng)尼龍66呈現(xiàn)約25%的破壞應(yīng)變韌性行為。該圖還清楚地表明,增加的纖維含量導(dǎo)致拉伸強(qiáng)度和彈性模量的增大。圖31在20℃和56103S1的條件下不同玻璃纖維含量的應(yīng)力的條件下不同玻璃纖維含量的應(yīng)力應(yīng)變曲線應(yīng)變曲線為了解釋這些進(jìn)展,彈性模量和拉伸強(qiáng)度可以使用混合物方程式的規(guī)則的一個(gè)簡(jiǎn)單的結(jié)構(gòu)進(jìn)行建模EΑΥFEF(1ΥF)EM和ΣRΒΥFΣRF(1ΥF)ΣRM,其中EF和ΣRF分別是纖維的模量和拉伸強(qiáng)度(EF76GPA、ΣRF3200MPA),EM和ΣRM分別是未增強(qiáng)尼龍66的模量和拉伸強(qiáng)度的實(shí)驗(yàn)值,ΥF是纖維體積分?jǐn)?shù),Α和Β是纖維取向因數(shù)8。在我們的實(shí)驗(yàn)中,Α和Β的平均值分別取Α024、Β0072,這些值取決于纖維長度和取向。這兩個(gè)力學(xué)參數(shù)的變化也可以用一個(gè)基于相對(duì)表示的使用了現(xiàn)象的描述建模標(biāo)準(zhǔn)化拉伸強(qiáng)度ΣR/ΣRM、標(biāo)準(zhǔn)化彈性模量E/EM與相對(duì)密度Ρ/Ρ0,其中Ρ0是未增強(qiáng)尼龍66的密度。圖32和圖33說明這些進(jìn)展,并表明他們是通過力的關(guān)系描述如下
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    • 簡(jiǎn)介:3200英文單詞,英文單詞,18500英文字符,中文英文字符,中文5500字文獻(xiàn)出處文獻(xiàn)出處JULIAHORSTSCHR?ERUNIVERSITYRANKINGSINACTIONTHEIMPORTANCEOFRANKINGSANDANEXCELLENCECOMPETITIONFORUNIVERSITYCHOICEOFHIGHABILITYSTUDENTSJECONOMICSOFEDUCATIONREVIEW,2012,31611621176UNIVERSITYRANKINGSINACTIONTHEIMPORTANCEOFRANKINGSANDANEXCELLENCECOMPETITIONFORUNIVERSITYCHOICEOFHIGHABILITYSTUDENTSJULIAHORSTSCHR?ERABSTRACTTHISPAPERANALYZESHOWHIGHABILITYSTUDENTSRESPONDTODIFFERENTINDICATORSOFUNIVERSITYQUALITYWHENAPPLYINGFORAUNIVERSITYAREPROSPECTIVESTUDENTSINFLUENCEDBYQUALITYINDICATORSOFAUNIVERSITYRANKINGORBYANEXCELLENCESTATUSAWARDEDWITHINANATIONWIDECOMPETITIONANDIFSO,ARESOMEQUALITYDIMENSIONS,EGRESEARCHREPUTATION,MENTORING,FACULTYINFRASTRUCTURE,STUDENTS’SATISFACTIONORTHEEXCELLENCESTATUS,MOREIMPORTANTTHANOTHERSINORDERTOADDRESSTHESEQUESTIONS,IESTIMATEARANDOMUTILITYMODELUSINGADMINISTRATIVEAPPLICATIONDATAOFALLGERMANMEDICALSCHOOLSASIDENTIFICATIONRELIESONTHEVARIATIONINQUALITYINDICATORSOVERTIME,ICANDISENTANGLETHERESPONSETOCHANGINGQUALITYINDICATORSFROMTHECOMMONKNOWLEDGEREGARDINGUNIVERSITYATTRACTIVENESSRESULTSSHOWTHATTHERANKINGPROVIDESMORERELEVANTINFORMATIONINTHEQUALITYDIMENSIONSMENTORING,FACULTYINFRASTRUCTUREANDTHEOVERALLSTUDENTS’SATISFACTIONTHANWITHRESPECTTORESEARCHKEYWORDSHIGHEREDUCATIONUNIVERSITYCHOICECOLLEGEADMISSIONCONDITIONALLOGIT1INTRODUCTIONEVERYYEAR,SECONDARYSCHOOLGRADUATESTHATWANTTOPURSUEHIGHEREDUCATIONHAVETOCHOOSEAUNIVERSITYTHISISACRUCIALDECISIONFORTHEIRFUTURETRAJECTORIESMADEUNDERIMPERFECTINFORMATIONREGARDINGTHEIROWNABILITY,UNIVERSITYQUALITYANDTHECORRESPONDINGRETURNSTOADEGREEFROMANECONOMIST’SPOINTOFVIEW,ITISVERYIMPORTANTTHATPROSPECTIVESTUDENTSAPPLYFORTHEUNIVERSITIESTHATFITTHEMBESTINORDERTOMAXIMIZEHUMANCAPITALPRODUCTIONANDTOMINIMIZEDROPOUTSTHEREFORE,UNIVERSITYRANKINGSANDINDICATORSOFEXCELLENCEMAYPROVIDEVALUABLEINFORMATIONFORTHEDECISIONOFPROSPECTIVESTUDENTSINTHISPAPER,IANALYZEWHETHERHIGHABILITYSTUDENTSINFACTUSEDIFFERENTUNIVERSITYQUALITYINDICATORSASASOURCEOFINFORMATIONANDWHETHERSOMEQUALITYDIMENSIONSAREMOREIMPORTANTFORANAPPLICANT’SDECISIONTHANOTHERSFORTHISPURPOSE,IESTIMATETHEEFFECTOFDIFFERENTQUALITYINDICATORSFROMAGERMANUNIVERSITYRANKING–ASWELLESTABLISHEDASTHEUSNEWSWORLDREPORTRANKINGINTHEUS–ONTHEUNIVERSITYAPPLICATIONDECISIONOFHIGHABILITYSTUDENTSASANADDITIONALQUALITYINDICATOR,IUSEANEXCELLENCECOMPETITIONRUNBYTHEGERMANGOVERNMENT,WHICHDECLAREDSOMEUNIVERSITIESTOBE“EXCELLENCEUNIVERSITIES”ANDGRANTEDTHEMEXTRAMONEYIDENTIFICATIONRELIESONTHEVARIATIONINDUCEDBYCHANGESINTHERANKINGINDICATORSOVERTIMEANDTHEINTRODUCTIONOFTHEEXCELLENCESTATUSTHISALLOWSMETODISENTANGLETHERESPONSETOTHENEWINFORMATIONPROVIDEDBYTHEQUALITYINDICATORSFROMTHETIMECONSTANT,COMMONKNOWLEDGEREGARDINGTHEOVERALLUNIVERSITYATTRACTIVENESSINCONTRASTTOTHEUSHIGHEREDUCATIONSYSTEM,THEGERMANSYSTEMISTRADITIONALLYBASEDONPUBLICUNIVERSITIESWHICHWERERECOGNIZEDASQUITEHOMOGENEOUSWITHRESPECTTOTHEIRQUALITYDURINGTHELASTCOUPLEOFYEARS,HOWEVER,SEVERALCHANGESTOWARDSAMORECOMPETITIVEMARKETHAVEBEENIMPLEMENTEDWITHTHEPUBLICATIONOFUNIVERSITYRANKINGSINTHEMEDIASTARTINGFROM1990SONWARDS,THEQUALITYOFDIFFERENTINSTITUTIONSHASBECOMEDIRECTLYCOMPARABLEFORTHEFIRST2010ANALYZETHEINFLUENCEOFGERMANUNIVERSITYRANKINGSONTHENUMBEROFMATRICULATEDSTUDENTSANDTHESORTINGOFSTUDENTSACCORDINGTOABILITYTHEYSHOWTHATRANKINGSALSOSEEMTOINFLUENCETHEMATRICULATIONDECISIONINGERMANYHOWEVER,BOTHGERMANSTUDIESCANNOTCONTROLFORUNIVERSITYFIXEDEFFECTSAND,THEREFORE,FAILTODISENTANGLETHEEFFECTOFTHEADDITIONALINFORMATIONPROVIDEDBYTHERANKINGSFROMTHECOMMONKNOWLEDGEREGARDINGUNIVERSITYATTRACTIVENESSTHISPAPERCONTRIBUTESTOTHEEXISTINGLITERATUREONUNIVERSITYRANKINGSBYDISTINGUISHINGTHEIMPORTANCEOFDIFFERENTQUALITYDIMENSIONS,WHILECONTROLLINGFORTHECOMMONKNOWLEDGEREGARDINGUNIVERSITYATTRACTIVENESSTOMYKNOWLEDGE,THISANALYSISISTHEFIRSTTOPROVIDEEVIDENCEREGARDINGTHEIMPORTANCEOFDIFFERENTRANKINGDIMENSIONSTHEINTERNATIONALLITERATURE,SOFAR,HASBEENLIMITEDTOTHEINFLUENCEOFTHEOVERALLRANKOFANUNIVERSITYTHEGERMANMULTIDIMENSIONALRANKINGOFTHECENTERFORHIGHEREDUCATIONDEVELOPMENTCHERANKING,HOWEVER,ALLOWSMETOSTUDYSEVERALQUALITYDIMENSIONSSEPARATELYTHEMAINQUALITYDIMENSIONSPUBLISHEDARERESEARCHREPUTATION,MENTORING,FACULTYINFRASTRUCTUREASWELLASARECOMMENDATIONBYPROFESSORSANDSTUDENTSANADDITIONALQUALITYINDICATORSTUDIEDISTHEEXCELLENCESTATUSAWARDEDBYTHEGERMANGOVERNMENTWITHINANEXCELLENCECOMPETITIONMYRESULTSTHUSPROVIDEADDITIONALKNOWLEDGEONWHICHQUALITYDIMENSIONSAREMOSTIMPORTANTFORTHEUNIVERSITYCHOICEOFPROSPECTIVESTUDENTSARANDOMUTILITYMODELEXPLAININGTHEAPPLICATIONDECISIONBYUNIVERSITYANDINDIVIDUALCHARACTERISTICSOFTHEAPPLICANTSISESTIMATEDUSINGACONDITIONALLOGITMODELDUETOTHEINCLUSIONOFUNIVERSITYFIXEDEFFECTS,ICANCONTROLFORTHETIMECONSTANT,COMMONKNOWLEDGEREGARDINGOVERALLUNIVERSITYATTRACTIVENESSAND,THEREFORE,IDENTIFICATIONRELIESSOLELYONTHEVARIATIONINRANKINGSANDEXCELLENCESTATUSOVERTIMETHEESTIMATES,THUS,REFLECTTHEEFFECTOFTHEDIFFERENTRANKINGINDICATORSONTOPOFTHETIMECONSTANT,OVERALLQUALITYASIDONOTCONTROLFORTHEQUALITYSCALEUNDERLYINGTHERANKING,THEEFFECTOFINTEREST,HOWEVER,ISNOTTHEPURESIGNALLINGEFFECTOFTHERANKINGBUTINDICATESTHESTUDENTS’REACTIONSTONEWINFORMATIONONUNIVERSITYQUALITYIUSEAVERYCOMPREHENSIVE,ADMINISTRATIVEDATASETPROVIDEDBYTHEGERMANCENTRALAGENCY‘ZVS’ADMINISTERINGTHEAPPLICATIONPROCESSFORMEDICALSTUDIES,WHICHISSUBSEQUENTLYCALLEDCENTRALCLEARINGHOUSE4THEDATASETCONTAINSINDIVIDUALINFORMATIONONALLAPPLICANTSATGERMANMEDICALSCHOOLSFORTHEYEARS2002–2008NOTETHATSTUDENTSINGERMANYAPPLYFORMEDICALSCHOOLDIRECTLYAFTERFINISHINGTHEIRSECONDARYEDUCATIONANDTHATMEDICALSCHOOLPROGRAMSTAKEABOUTSIXYEARSTOEARNA“MASTERLIKE”DEGREEWITHOUTAWARDINGANINTERMEDIATE“BACHELORLIKE”DEGREEINBETWEENTHEDATASETOFFERSTWOIMPORTANTADVANTAGESFORMYANALYSISFIRST,ICANSTUDYTHEAPPLICATIONRATHERTHANTHEMATRICULATIONDECISIONTHISISIMPORTANTASTHEAPPLICATIONDECISIONISLESSDRIVENBYSUPPLYCONSTRAINTSSECOND,THEINDIVIDUALNATUREOFTHEDATAALLOWSMETOCONTROLFORTHEDISTANCEBETWEENASTUDENT’SHOMETOWNANDEACHUNIVERSITYINTHECHOICESET,WHICHISSHOWNTOBEAVERYIMPORTANTDETERMINANTOFTHEAPPLICATIONDECISIONANIMPORTANTLIMITATIONOFTHEDATAIS,HOWEVER,THATMYANALYSESNEEDTOFOCUSONHIGHABILITYAPPLICANTS,ASTHEOTHERPROSPECTIVESTUDENTSAREOBJECTTOSTRATEGICAPPLICATIONBEHAVIORANDTHEREFOREDONOTSTATETHEIRTRUEPREFERENCESTHERESULTSSHOWTHATACHIEVINGEXCELLENCESTATUSINCREASESTHEODDSTOAPPLYFORHIGHABILITYSTUDENTSBY19OFTHEPRIORODDSHENCE,THEEXCELLENCECOMPETITIONRUNBYTHEGERMANGOVERNMENTSIGNIFICANTLYAFFECTSTHEUNIVERSITYCHOICEOFHIGHABILITYSTUDENTSREGARDINGTHERANKINGINDICATORS,AHIGHRANKWITHRESPECTTOSTUDENTS’SATISFACTIONINCREASESTHEODDSTOAPPLY,ANDALOWRANKINMENTORING,FACULTYINFRASTRUCTUREASWELLASINTHEINDICATORSTUDENTS’SATISFACTIONLOWERSTHEODDSTHERESEARCH
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