Research on thermal damage mechanism of K424 superalloy processed with water⁃jet guided laser

为研究水导激光技术加工K424高温合金的热损伤区规律,使用自主研发的水导激光加工系统对K424高温合金薄片进行打孔实验,采用旋切法进行钻孔,并在激光穿透材料后在孔壁继续旋转几圈去边缘毛刺。将切下的圆形工件进行镶嵌、打磨、抛光、腐蚀和清洗,使用Zeiss EVO 10扫描电镜观测工件上的热影响区情况与重铸层的厚度。实验结果发现,水导激光加工后工件边缘位置的晶粒无明显变化,不存在热影响区。重铸层的厚度在2&mu;m以上,但是分布不均匀,有的位置甚至不存在重铸层。分析后得出结论为水导激光的激光功率过高或脉宽时间过长等相关参数会导致材料内部产生多余的热量,如果这些热量过高会造成加工位置附近形成热影响区,并产生过多的熔渣使重铸层的厚度增加。同时,加工过程中会由于水柱变向回流或者熔渣较大导致排水不畅等因素,都会造成水射流的不稳定,使工件切口处的重铸层的厚度变的不均匀。根据上述结论提出了解决水射流不稳定的加工方法。</p

基于增强现实的复杂易变形舱段对接可视化装配辅助方法

本发明公开了一种基于增强现实的复杂易变形舱段对接可视化装配辅助方法，涉及智能装配领域。该方法利用实测的舱段三维模型构建虚拟装配仿真环境，进行配合间隙及干涉状态检测；采用装配路径智能优化算法，通过标准通讯接口协议与虚拟装配仿真环境进行信息交互，完成最优装配路径规划；将装配引导路径和视觉检测得到的实际装配路径以3D图像、路径偏差数值等形式叠加到虚实配准后的增强现实环境中，实现可视化智能装配辅助功能。本发明可解决复杂易变形舱段对接过程中频繁出现的卡死错位等装配难题，降低对操作人员经验技能的依赖，大幅提高装配效率及一次装配成功率

A humanoid robotic hand capable of internal assembly and measurement in spacesuit gloves

Purpose To identify the dexterity of spacesuit gloves, they need to undergo bending tests in the development process. The ideal way is to place a humanoid robotic hand into the spacesuit glove, mimicking the motions of a human hand and measuring the bending angle/force of the spacesuit glove. However, traditional robotic hands are too large to enter the narrow inner space of the spacesuit glove and perform measurements. This paper aims to design a humanoid robot hand that can wear spacesuit gloves and perform measurements. Design/methodology/approach The proposed humanoid robotic hand is composed of five modular fingers and a parallel wrist driven by electrical linear motors. The fingers and wrist can be delivered into the spacesuit glove separately and then assembled inside. A mathematical model of the robotic hand is formulated by using the geometric constraints and principle of virtual work to analyze the kinematics and statics of the robotic hand. This model allows for estimating the bending angle and output force/torque of the robotic hand through the displacement and force of the linear motors. Findings A prototype of the robotic hand, as well as its testing benches, was constructed to validate the presented methods. The experimental results show that the whole robotic hand can be transported to and assembled in a spacesuit glove to measure the motion characteristics of the glove. Originality/value The proposed humanoid robotic hand provides a new method for wearing and measuring the spacesuit glove. It can also be used to other gloves for special protective suits that have highly restricted internal space

Orthogonal double-joint type electric thruster pointing mechanism

本发明涉及航天器中电推力器调节推力方向的机构，特别涉及一种正交双关节式电推力器指向机构。该机构包括旋转执行器Ⅰ、万向节环、电推力器、上旋转架、下固定架及旋转执行器Ⅱ，其中万向节环饶Y轴转动地安装在下固定架上，旋转执行器Ⅱ设置于下固定架上，且旋转执行器Ⅱ的输出端与万向节环连接，旋转执行器Ⅱ用于驱动万向节环饶Y轴转动；上旋转架绕X轴转动地与万向节环连接，旋转执行器Ⅰ设置于上旋转架上，且旋转执行器Ⅰ的输出端与万向节环连接，旋转执行器Ⅰ用于驱动上旋转架绕X轴转动；电推力器设置于上旋转架上。本发明通过使用一个万向节环达到调节上支架转动的目的，可以实现机构的上旋转架在行程范围内任意方位的指向

Combining Micropipette and Atomic Force Microscopy for Single cell Drug Delivery and Simultaneous Cell Mechanics Measurement

Objective Cell mechanics plays an important role in cellular physiological and pathological processes and is closely related to the health states of living organisms. Investigating cell mechanics significantly benefits revealing the underlying mechanisms guiding life activities. The advent of atomic force microscope (AFM) provides a novel instrument for single-cell assay. AFM is able to not only visualize the morphology of singe living cells under aqueous conditions with high resolution, but also quantitatively measure the mechanical properties of cells. Utilizing AFM to investigate the mechanics of individual cells has achieved great success in the past decades, which provides numerous new insights into cellular physiological and pathological processes and has become an important tool in the field of life sciences. However, due to the fact that AFM probe itself is unable to perform drug delivery, so far it is still challenging for the simultaneous measurements of cell mechanics by AFM in response to the stimulation of ultra-trace drug. Here, by combining micropipette and AFM, a method allowing single-cell precise drug delivery and simultaneous measurements of cell mechanics is presented. Methods The micropipette-based single-cell microinjection system was built on an inverted fluorescent microscope by using a all manipulator, a micropump, a syringe, a PIFE tube and a micropipette. The micropipette was obtained from the glass capillary by using the micropipette puller. NIH 3T3 cells (mouse embryonic fibroblast), HEK 293 cells (human embryonic kidney cell) and MCF-7 cells (human breast cancer cell) were used for the experiments. Under the guidance of optical microscopy, staining reagents or drug molecules were delivered to individual cells, and then AFM probe was moved to the targeted cells to obtain force curves, Cellular Young's modulus was calculated from the force curves by applying Hertz-Sneddon model. Results The effects of the pore size of micropipette tip on cell injection were analyzed firstly, and the results showed that larger pore size tip (the outer diameter of the tip was larger than 1 mu m) could cause obvious mechanical damage to the cell. Then blue ink or P1 staining solution was injected to single cells by micropipette under the guidance of optical microscopy, and the recorded optical/fluorescent images after injection clearly showed that the targeted cells were successfully injected. Finally, micropipette was integrated with AFM to measure the Young's modulus changes of single cells after the treatment of chemotherapeutic drug (cytarabine), and the results showed that stimulation of cytarabine could cause the changes of cellular mechanical properties. Conclusion Combining micropipette and AFM enables applying precise chemical stimulation to a single cell while simultaneously measuring cellular mechanical properties after chemical stimulation, providing a novel idea for single-cell mechanical analysis in response to ultra-trace drugs

一种用于增材制造的陶瓷先驱体浆料和增材制造工艺

本发明公开了一种用于增材制造的陶瓷先驱体浆料和增材制造工艺，属于陶瓷材料的增材制造技术领域。该工艺以硅元素含量较高的双官能团丙烯酸酯硅树脂为主要原料制备先驱体溶液，同时将不同质量分数的惰性填料纳米SiC粉末加入到先驱体液相溶液中，利用光固化和原位烧结陶瓷化技术实现陶瓷类材料的直接成型，先平铺一层先驱体材料，采用光固化技术实现材料固化，再采用红外光烧结的方式将材料陶瓷化，如此依次逐层固化、逐层烧结最终实现复杂陶瓷结构的直接一体化成型。将惰性填料加入到先驱体溶液中，以减少先驱体陶瓷在烧结过程中体积收缩，同时减少裂纹和孔隙的产生，兼顾效率与产率的最大化

Touch type soft small celestial body sampling system and method

本发明涉及空间探测技术领域，特别涉及一种触碰式柔顺小天体采样系统及采样方法。包括星体平台及设置于星体平台上的主控制器、样品存储系统、监视系统、柔顺机械臂及工具库；样品存储系统用于样品的储存和密封；监视系统用于获取卫星与小天体之间的相对距离信息、倾角信息、小天体地形条件和星壤颗粒状态及监视采样过程，并将获取信息发送给主控制器；自适应关节用于安装工具头；采样工具库用于安装工具头；主控制器用于接收监视系统发送信息，并根据接收的信息控制柔顺机械臂拾取对应的采样工具，进行采样。本发明能够解决采样过程控制、复杂地形适应性、样品密封返回等难题，达到小天体自主、安全、高效样品采集和密封返回的目的

一种有色金属连续铸锭线的金属液位测量系统

本发明属于工业铸锭线金属液面测量领域，具体说是一种有色金属连续铸锭线的金属液位测量系统，包括：上位机、激光发射器、工业相机以及滤光片；激光发射器设于传送生产线上方，激光发射器的激光平面与传送生产线传动面垂直；工业相机设于传送生产线上方，且安装于传送生产线放料处与激光发射器之间，工业相机倾斜设置，用于采集激光在待测金属溶液上扫描后得到待测金属溶液状态的光条轮廓图像；滤光片设于镜头前方，上位机与工业相机连接，用于处理得到待测金属溶液的高度差信息。本系统采用激光三角法，所使用的硬件软件价格相较于在保持同等精度要求的实时测量方式所需要付出的代价和后期维护费用相比更加低廉

一种深海自适应液压钻机

本发明公开了一种深海自适应液压钻机，涉及水下作业工具领域，解决了常见在进行钻孔动作时不可避免地会被海水冲击而发生偏移，进而导致出现钻孔的准确度存在较大偏差以及钻孔效率低下的问题，其技术方案要点是，主架体；转动机构，其具有固定端和转动端；螺旋机构，其与转动端同轴式传动连接；钻孔部，其与螺旋机构同轴式连接；螺旋机构的螺旋方向与钻孔部的螺旋方向相同，使螺旋机构能够产生与钻孔部钻孔方向相同的驱动力，本方案中的转动机构在驱动钻孔部转动的同时，其还能够为螺旋机构提供螺旋转动的动力，通过利用单个转动机构便能够同时提供钻孔部的钻孔动力以及前进推力，具有紧凑性高、钻孔稳定性高、可靠性高的特点

一种船用直流混合电力系统的能量管理方法

本发明涉及能量管理技术领域，尤其是针对船用直流混合电力系统的能量管理技术，具体的说是一种针对由多组燃料电池、多组锂电池及超级电容构成的船用直流混合电力系统的能量管理方法。本发明通过监测母线电压、各电源剩余电量等信息，对船用直流混合电力系统中各电源DC/DC变换器进行控制，使得混合电力系统在11种工作模式之间切换，适时调配能量在混合电源中的流动，在保证直流母线稳定的同时，使混合电源系统快速跟踪负载变化，实现整个直流混合电力系统的稳定可靠运行