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Scientific World Journal 2015年第1期2015卷 731013页

作者： Othman, Muhammad Murtadha Abd Rahman, Nurulazmi Musirin, Ismail Fotuhi-Firuzabad, Mahmud Rajabi-Ghahnavieh, Abbas Committee of Research (CORE) Advanced Computing and Communication (ACC) Universiti Teknologi MARA Shah Alam Selangor 40450 Malaysia Faculty of Electrical Engineering Universiti Teknologi MARA Shah Alam Selangor 40450 Malaysia Engineering Centre University Malaysia Perlis Kampus Kubang Gajah Arau Perlis 02600 Malaysia Centre of Excellence in Power System Management and Control Electrical Engineering Department Sharif University of Technology Tehran 11365-11155 Iran Department of Energy Engineering Sharif University of Technology Tehrana 11365-11155 Iran

This paper introduces a novel multiobjective approach for capacity benefit margin (CBM) assessment taking into account tie-line reliability of interconnected systems. CBM is the imperative information utilized as a reference by the load-serving entities (LSE) to estimate a certain margin of transfer capability so that a reliable access to generation through interconnected system could be attained. A new Pareto-based evolutionary programming (EP) technique is used to perform a simultaneous determination of CBM for all areas of the interconnected system. The selection of CBM at the Pareto optimal front is proposed to be performed by referring to a heuristic ranking index that takes into account system loss of load expectation (LOLE) in various conditions. Eventually, the power transfer based available transfer capability (ATC) is determined by considering the firm and nonfirm transfers of CBM. A comprehensive set of numerical studies are conducted on the modified IEEE-RTS79 and the performance of the proposed method is numerically investigated in detail. The main advantage of the proposed technique is in terms of flexibility offered to an independent system operator in selecting an appropriate solution of CBM simultaneously for all areas. © 2015 Muhammad Murtadha Othman et al.

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Comparative study of two 3-CRU translational parallel manipulators

Comparative study of two 3-CRU translational parallel manipu...

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IEEE International Conference on Robotics and Biomimetics

作者： Bin Li Yangmin Li Xinhua Zhao Weimin Ge Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Tianjin China Department of Electromechanical Engineering University of Macau Taipa Macao SAR China

ISBN: (纸本)9781479973989

Two types of 3-CRU translational parallel manipulators (TPM) are compared and investigated in this paper. The two 3-CRU TPMs have identical kinematics, but some differences exist in terms of the chain arrangement, one is in fully symmetrical chain arrangement, called symmetrical 3-CRU TPM, the other one is in asymmetrical chain arrangement, called asymmetrical 3-CRU TPM. This paper focuses on discussing the differences between the two 3-CRU TPMs in kinematics, workspace and performance. This study provides insights into parallel manipulators with identical kinematics arranged differently.

关键词： Manipulators Joints Kinematics Actuators Layout Rails Integrated circuits

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Design and analysis of a decoupled XY micro compliant parallel manipulator

Design and analysis of a decoupled XY micro compliant parall...

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IEEE International Conference on Robotics and Biomimetics

作者： Bingxiao Ding Yangmin Li Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Tianjin University of Technology Tianjin China Department of Electromechanical Engineering University of Macau Avenida da Universidade China

ISBN: (纸本)9781479973989

In this paper, a new compliant parallel mechanism driven by piezoelectric actuators is designed, which is a modified structure from our previous designed stage. In order to compensate the limited stroke of PZT, the secondary amplification mechanism was adopted in this design, and also the matrix method is utilized to calculate its stiffness and compliance for this compliant mechanism. In practical application, the accuracy of mechanism is an essential index that we wish to achieve, meanwhile the parasitic motion analysis, dynamic and static analysis are also presented in this paper. The method is validated by finite element analysis to demonstrate its effectiveness.

关键词： Fasteners Mathematical model Force Transmission line matrix methods Accuracy Analytical models Kinetic energy

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Design and Analysis of a Spatial 2-RPU & SPR Parallel Manipulator with 1T2R-Type

Design and Analysis of a Spatial 2-RPU & SPR Parallel Manipu...

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International Conference on control, Automation, Robotics & Vision

作者： Bin Li Yangmin Li Xinhua Zhao Yuwei Yang Department of Electromechanical Engineering University of Macau Taipa Macao SAR China Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Tianjin University of Technology Tianjin 300384 China

ISBN: (纸本)9781479952007

A spatial 2-RPU&SPR parallel manipulator (PM) with three degrees of freedom (DOF) is proposed in this paper. The architecture of the manipulator is comprised of a moving platform attached to a base through two revolute-prismatic-universal jointed serial linkages and one spherical-prismatic-revolute jointed serial linkage. The prismatic motions of the prismatic joints are considered to be actively actuated. The moving platform of the manipulator has one-translational and two rotational (1T2R) DOFs with respect to the fixed base. The kinematics including forward and inverse position analysis is analyzed. At last, the simulations of position and velocity of the manipulator are made to validate the algorithm.

关键词： Design Analysis Parallel Manipulator

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In situ SERS monitoring of photocatalytic organic decomposition using recyclable TiO2-coated Ag nanowire arrays

In situ SERS monitoring of photocatalytic organic decomposit...

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作者： Bao, Zhi Yong Liu, Xin Dai, Jiyan Wu, Yucheng Tsang, Yuen Hong Lei, Dang Yuan Department of Applied Physics Hong Kong Polytechnic University Hong Kong Hong Kong Key Lab of Advanced Transducers and Intelligent Control System of Ministry of Education College of Physics and Optoelectronics Taiyuan University of Technology Taiyuan China Shenzhen Research Institute Hong Kong Polytechnic University Shenzhen Hong Kong College of Material Science and Engineering Hefei University of Technology Hefei China

Recently, semiconductor and noble metal complex nanomaterials have attracted ever-increasing attention because of the realization of multiple functionalities in a single entity. In this study, Ag-TiO2 core-shell nanocomposites were synthesized by hydrolysis of butyl titanate on the surface of Ag nanowires. Due to efficient electron transfer at the Ag-TiO2 interface, the as-prepared nanocomposites exhibit much higher photocatalytic activity than bare TiO2 films, as demonstrated by the enhanced photodegradation rate of R6G and methyl blue molecules. In the meanwhile, such nanocomposites serve as a high-sensitivity surface-enhanced Raman scattering (SERS) substrate for in situ monitoring of the photocatalytic decomposition reaction, and the substrate is recyclable due to its self-cleaning function. Full-wave numerical calculations reveal that the improved photocatalysis and SERS efficiencies are attributed to the largely enhanced electromagnetic near-field in the nanocomposites. Our results point out that bifunctional semiconductor-metal hybrids hold great promise for simultaneously detecting and decomposing organic pollutants in the environment. © 2014 Elsevier B.V. All rights reserved.

关键词： Titanium dioxide

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MATRIX motor with individual winding current control capability for variable parameters and iron loss suppression

MATRIX motor with individual winding current control capabil...

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International Conference on Electrical Machines, ICEM

作者： H. Hijikata K. Akatsu Y. Miyama H. Arita A. Daikoku Department of Function Control System Shibaura Institute of Technology Tokyo Japan Department of Electrical Engineering Shibaura Institute of Technology Tokyo Japan Advanced Technology R&D Center Mitsubishi Electric Corporation Hyogo Japan

This paper describes a novel motor-drive system which includes the multi-phase open-end windings for an individual winding current control in order to realize the variable parameters. Each armature winding is connected with the insulated full-bridge inverter for the arbitrary excitation waveform. The proposed construction can extend the operating area and can distribute the high efficiency area. Furthermore, the proposed multi-phase drive can suppress the harmonic iron loss under the flux weakening operation because the individual control can regulate the instantaneous flux density in each stator tooth even though the motor consists of the full-pitch distributed winding. In this paper, the down size model was designed to confirm the principle. It was shown that the downsize model can expand the operating range, can distribute high efficiency area, and can suppress the iron loss by the controlled flux density in each stator tooth by some simulation and experimental results.

关键词： Windings Harmonic analysis Iron Permanent magnet motors Torque Couplings Stators

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A Combined Approach for Master-slave Robotic Surgery system control Based on Jacobian and PD Algorithm

A Combined Approach for Master-slave Robotic Surgery System ...

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2014 4th IEEE International Conference on Information Science and Technology

作者： Zhonglin Zhang Jing Xiong Yangzhou Gan Dongwen Zhang Zeyang Xia Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences School of Electronic Engineering and Automation Guilin University of Electronic Technology Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information ProcessingMinistry of Education of China

In this paper, a semi-physical simulation platform of robot teleoperation system is designed, and a combined control approach using Jacobian matrix and Proportional-Derivative(PD) algorithm is proposed. A digital low-pass filter is designed to eliminate noise signal caused by hand-vibration of surgeons. The advantages of the proposed approach include easy implementation, real-time response and accurate master-slave tracking. The results of semi-physical simulation validated that the proposed approach realized accurate master-slave tracking for puncture surgery and the noise caused by hand-vibration was eliminated effectively.

关键词： robotic puncture surgery teleoperation Jacobian matrix PD control algorithm vibration elimination

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Robust walking of biped robot on uneven terrain using effect of wobbling mass

Robust walking of biped robot on uneven terrain using effect...

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IEEE International Conference on Robotics and Biomimetics

作者： Terumitsu Hayashi Masaki Yamakita Yuta Hanazawa Fumihiko Asano Dept. of Mechanical and Control Engineering Tokyo Institute of Technology Meguro-ku Tokyo JAPAN Faculty of Engineering Department of Applied Science for Integrated System Engineering Kyushu Institute of Technology Kita-Kyushu Fukuoka Japan School of Information Science Japan Advanced Institute of Science and Technology Nomi Ishikawa JAPAN

ISBN: (纸本)9781479973989

Many studies about improving the performance of biped robots, especially energy efficiency and waking speed have been done. These properties, however, are secondary to the robot ability to prevent falling down on irregular grounds. In this paper, we propose a novel method which uses an active up-and-down wobbling mass to improve walking ability and robustness of biped robot on uneven terrain. We will show improvements that the number of walk steps is increased in numerical simulations using the proposed method. We also evaluate quantitatively walking ability of biped robot on uneven terrain using a performance measure called Gait Sensitivity Norm (GSN) and H ∞ norm. Furthermore, we show the effectiveness of H ∞ norm measure which cannot be evaluated by GSN in a walking example.

关键词： Legged locomotion Limit-cycles Trajectory Robustness Mathematical model Sensitivity

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Processing effects on the magnetic and mechanical properties of FeCoNiAl_(0.2)Si_(0.2) high entropy alloy

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International Journal of Minerals,Metallurgy and Materials 2013年第6期20卷 549-555页

作者： Ting-ting Zuo Song-bo Ren Peter K. Liaw Yong Zhang State Key Laboratory for Advanced Metals and Materials University of Science and Technology Beijing Beijing Hangke Engine Control System Science & Technology Co. Ltd. Department of Materials Science and Engineering The University of Tennessee

High entropy alloys with the composition of FeCoNiA10.2Si0.2 were prepared by arc melting and induction melting, denoted by A1 and A2, respectively. The samples prepared by these two techniques have a face-centered cubic （FCC） phase structure and a typical dendrite morphology. The tensile yield strength and maximum strength of A2 samples are about 280 and 632 MPa, respectively. Moreover~ the elongation can reach 41.7%. These two alloys prepared by the different methods possess the similar magnetic properties. The saturation magnetization and coercivity can reach 1.151 T and 1400 A/m for A1 samples and 1.015 T and 1431 A/m for A2 samples, respectively. Phases in A2 samples do not change, which are heat treated at different temperatures, then quenched in water. Only the sample, which is heat treated at 600~C for 3 h and then furnace cooled, has a new phase precipitated. Besides, the coercivity decreases obviously at this temperature. Cold rolling and the subsequent heat treatment cannot improve the magnetic properties effectively. However, cold rolling plays an important role in improving the strength.

关键词： high entropy alloys magnetic properties mechanical properties heat treatment

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The effect of fractional order on oscillatory behavior of scalar fractional delay systems of neutral type

The effect of fractional order on oscillatory behavior of sc...

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6th Workshop on Fractional Differentiation and Its Applications, FDA 2013

作者： Mesbahi, Afshin Haeri, Mohammad Advanced Control System Lab. Department of Electrical Engineering Sharif University of Technology Tehran Iran

ISBN: (纸本)9783902823274

The undamped oscillations of a scalar fractional neutral system are studied in this paper. For this purpose, it is proved that this kind of systems can have the oscillatory behavior. The necessary and sufficient condition is proposed to determine that there exists a delay value for which the system oscillates. The frequency, amplitude and required delay for the undamped oscillations depend on the fractional order. However, the behavior of dependencies is not specified. Indeed, when the system has oscillatory behavior, it is bounded-input bounded-output stable for delay less than the required delay. Moreover, when the order is approaching to an integer value, the necessary and sufficient condition is proposed to determine that the system can oscillate with the bounded value of delay. The obtained results are verified with respect to the classical theorems. Finally, two numerical examples demonstrate the proposed conditions. © 2013 IFAC.

关键词： Time delay

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