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Analysis of Elastic Motion Stability of Flexible Manipulator Arm Based on Roth Criterion of Control System Guangrui Liu 1,a,* , Lanfen Niu 2,b , Xin Tian 3,c 1, 3：Mechanical Engineering School of Zhengzhou university Zhengzhou City Science Road No.100 450001, China 2：Mathematics and Statistics School of Zhengzhou university Zhengzhou city science road No.100 450001, china a: lgrui2006@163.com ; b: niulanfen@zzu.edu.cn ; c: 1828802563@qq.com Keywords: Roth criterion, flexible manipulator arm, elastic motion stability, dynamic maximum allowable payload,drive joint rotational inertia Abstract .
x w x w(x,t) Fig.1:A schematic diagram of a single-link flexible manipulator Elastic deformation w(x,t) is applied to Euler-Bernouli Free vibration differential equation: (1) E is Elastic modulus of flexible manipulator material, I is moment of inertia of section of Manipulators;Material density of flexible manipulator, A is Sectional area of the manipulators.Motion of elastic deformation satisfies the following boundary conditions: In the flexible manipulator linked with Chuck ,the lateral vibration displacement is zero, and the lateral vibration velocity is also 0
According to Roth criterion , structure the Roth table , get the necessary and sufficient conditions of the stability of input and output： （1）； （2）； （3） Substituting the expression of and arrange, we can get the necessary and sufficient conditions which maintain the stability of elastic motion of flexible manipulator： (12) Numerical calculation The units and value of known physical：In this article ,the parameters of the flexible manipulator which used for experimental and computational is：Material :45 steel, Full length：1009 mm, Blessing length：100 mm, Overhang：909 mm, Width：48.5 mm, Thickness：3.8 mm, Density：7.8*10^3 kg/m^3, Young's modulus：2.1*10^11 The analysis of results (1) When the moment of inertia of the drive joints (including the moment of inertia of the motor rotor, the chuck and the flexible manipulator itself,) is constant , the end position of the elastic deformation to the step response of the joint driving torque.
Journal of Shandong Engineering Academy . 1998(3):6-11

The Influence of Longitudinal Magnetic Field on DCEN MAG Welding Xuming Wang 1, a, Wen Zhang 1,b and Ying Wang 1,c 1 North China Institute of Science and Technology, 065201,China awangxuming@ncist.edu.cn, bzhangwen@ncist.edu.cn, cvway1222@sina.com Keywords: Longitudinal magnetic field, DCEN MAG welding, Wire melting coefficient, Welding stability.
(2) The stability of MIG/MAG arc is relatively weak compared with non-consumable gas arc shielded welding, for which includes many factors: welding parameters, shielded gas component, welding wire Material and diameter, wire extension, wire melting, Droplet Transfer etc.
When wire is connected to the negative pole, wire is Cold Cathode Materials, and cathode drop is much higher than anode.
[8] WANG Jun, WANG Hui xia, LIANG Zhi min:Experimental study on high performance MAG welding process controlled by longitudinal magnetic field.Journal of Hebei University of Science and Technology.2010,31(3): 205-208.

Graduation adjustment equation of the bed material: (6) Where and are respectively the graduation of the bed material at the beginning and at the end of the period, is the thickness of the movable bed material, the value of which is related to the state, strength and diachronic of the riverbed erosion.
Acknowledgements This work was financially supported by National Natural Science Foundation of China (50909036, 51125034, 51109066), Fundamental Research Funds for the Central Universities (2009B08014), Excellent Innovation Talent Project of Hohai University, and Fundamental Research Funds for State Key Laboratory of Hydrology-Water Resources and Hydraulic Engineering (2011585712).
References [1] Ying-biao Shi, Hai-yan Lu, Yuan-ping Yang and Ying Cao: Advances in Water Science (2008), Vol. 19(5), p. 685.
[4] Wei Zhang, Yitian Li and Jing Yuan: Journal of Hydroelectric Engineering (2011), Vol. 30(4), p. 90.

School of Materials Science and Engineering, University of Florida, USA 3.
Calcium phosphate (CaP) based biomaterials play an important role in clinical application especially as bone substitute material 1 .
Giammara; Science, 242(1988), p885-892
Alves; Journal of physics and chemistry of solids, 62(2001), p1251-1255.

Industrial Test on Shearing Force of Rolling Shear Lifeng Maa, Jianmei Wang b and Qingxue Huangc Taiyuan University of Science and Technology, People's Republic of China a malifeng@163.com, bwjmhdb@163.com, chqx@tyust.edu.cn Keywords: Rolling shear, Shear force, Industrial test Abstract.
Table 1 Test results of shear force No Material Thickness (mm) Width (mm) Temperature (℃) Blade Clearance (mm) Max Shear Force (104N) Ave Shear Force at Rolling-cut Stage (104N) 1# 0Cr18Ni9Ti 15 1550 26 0.8 329.3 265.6 2# 0Cr18Ni9Ti 15 1550 26 1.5 343.9 272.8 3# 0Cr18Ni9Ti 15 1550 26 1.7 352.4 279.2 1＇# 0Cr18Ni12MO2Ti 20 1640 26 1.3 445.6 345.4 2＇# 0Cr18Ni12MO2Ti 20 1640 26 1.6 459.8 356.6 3＇# 0Cr18Ni12MO2Ti 20 1640 26 2.6 463.6 366.3 : As shown in the above figures, 1# link is the one on the side of the firstly-fallen-off blade during the shearing process.
Acknowledgements The authors would like to express their appreciation to the support of Shanxi Generalization Project of Science and Technology Fruits (2007071071).
Li:Practical Teaching Materials to ANSYS.
Fang and P.Zeng: FEM Simulation to Blanking Process of Metal Sheets, Journal of Acta Metallurgica Sinica, 2001,37(6),p.653.

School of Metallurgical and Ecological Engineering, University of Science and Technology Beijing, Beijing 100083, China; 2.
In view of high thermal load, designers chose single row pipe and flanged type, material is nodular cast iron (QT400-20), the thickness of cooling stave is 250mm.
Cooling pipes are below ramming material of furnace bottom, stay at top of furnace bottom board.
Table 1 Properties for coolers Section Material Size of pipe Cooling medium Remark 1, 4-6 Gray cast iron HT200 Φ73×6.5 Lower soft water Smooth 2, 3, 4 (tap hole region) Rolled oxygen-free copper TU2 Φ38×86 compound- drilling Lower soft water Smooth 7-10 Rolled oxygen-free copper TU2 Φ38×86 compound- drilling upper soft water Has dovetail groove 11-17 nodular cast iron QT400-20 Φ73×6.5 (front row pipe) Φ60×6 (flanged) upper soft water Has dovetail groove Soft water cooling system for furnace body Compared with other cooling ways, closed loop soft water cooling has many superiorities: Soft water cooling improves quality of cooling water, prevents damage that is caused by scaling because of overheating, enhances cooling effect.
Journal of University of Science and Technology Beijing. 2012, 34(2): 180-182.

Materials and methods The data were collected from the way of questionnaire survey, which included the data about material and labor amount inputs of vineyard construction and grapevine production.
Acknowledgements This work was supported by the national natural science foundation (41101573), China Agriculture Research System (CARS-30), the scientific research innovation project of China Agricultural University (2014XJ028).
Science of the Total Environment, 2014, 493: 330-335
African journal of agricultural research, 2010, 5:491–499

REN from Changchun University of science and technology [3].
Material for diaphragm spring is 60Si2MnA its Elastic modulus and Poisson’s ratio is MPa and .
And then defining material properties, for diaphragm spring: 60Si2MnA, , , kg/mm3; and for pressure plate: 45 steel, , , kg/mm3.
For the free modal analysis of diaphragm spring, there was some basic setting and operative steps as same as those for statics analysis, including material properties, contact surfaces set, grid partition and loading operation.
REN, D.H.WEN, D.Z.HE, et al: Finite Element Analysis of Diaphragm Spring, Journal of Changchun University of Science and Technology, Vol.33 No.4 (2010), p.92-94, In Chinese [4] H.X.LIU: Experimental Research and Finite Element Analysis of Stress Distribution of Diaphragm Spring, Mechanics in Engineering, Vol.19 No.3 (1997), p.24-27, In Chinese [5] F.C.LI: ANSYS Workbench Design Modeling and Virtual Simulation (Publishing House of Electronics Industry, Beijing: 2011, In Chinese) [6] X.J.LI: Study on Simulation and Computational Method of the Torque of the Vehicle Diaphragm spring Clutch (Beijing Jiaotong University, 2010, In Chinese) [7] Z.H.WU: Mechanical Properties Analysis of Diaphragm Spring (Nanjing Agricultural University, 2008, In Chinese) [8] H.B.LAN: The Modal Analysis of Disk Spring, MECHANICAL ENGINEER, No.10 (2010), p.33-35, In Chinese

Adsorption of Cu(II) Ions from an Aqueous Solution by Cross-linked Carboxymethyl Konjac Glucomannan Chunmei Niua, Shaoying Lib,Dong Huangc School of Material Science and Engineering, Hebei University of Science and Technology, Shijiazhuang 050018, China asjzncm@163.com,blsykjdx@sohu.com,ctaiyanglei321@163.com Key words: Crosslinked carboxymethyl konjac glucomannan; Adsorption; kinetics; Cu(II) Abstract Crosslinked Carboxymethyl Konjac Glucomannan(CMKGM) with substitution degrees ofcarboxymethyl group（DS）0.265, 0.457 and 0.586 were prepared through reaction of monochloroacetic acid, konjac glucomannan(KGM) and epichlorohydrin and used to adsorb Cu(II) from the aqueous solutions of copper nitrate.
Materials and methods Reagent KGM, refined powder (medical-grade) was dried at 60 ˚C in vacuum oven before used; ECH, MCA and sodium hydroxide (analytical reagent grade) were used as received.
C.Srivastava, Journal of American Chemical Society 39 (1959), P 1715 [12] Mitchell and Wijinberg, Starch/Starke 47 (1995), P46 [13] Y.

Influence Of SO2 Concentration On Initial Corrosion Of Aluminum In Marine Atmosphere HAN Desheng1, a , LI Di 1, b , ZHENG Tianliang1, c 1 School of Material Science and Engineering, Beijing University Of Aeronautics and Astronautics, Beijing 100083, China a desheng@mse.buaa.edu.cn,b lidi@buaa.edu.cn, czhengtl@buaa.edu.cn Keywords: SO2; simulated marine atmosphere; LY12 aluminum alloys; initial corrosion Abstract: Influence of SO2 concentration on initial corrosion of aluminum was studied in simulated marine atmosphere.
In this paper, we studied the influence of SO2 concentration on initial corrosion of aluminum in simulated marine atmosphere. 2 Experimental methods 2.1 Sample Experimental material was 4.5mm T profiled LY12CZ aluminum alloys, which is a representative structure material widely used in navigation equipments in China (corresponds to USA 2024).
References [1] Wan Ye, REN Yanjie, YAN Chuanwei: Effect of deposition of ammonium chloride and ammonium sulfate on atmospheric corrosion of LY12 alloy, The Chinese Journal of Nonferrous Metals, Vol. 14(2004): 1149-1155 [2] Juan J.
Corrosion Science Vol. 45(2003): 799-815 [3] GB3190-82: The chemical composition of aluminum and aluminum alloys machining manufactures