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Comparison of internal force antagonism between redundant cable-driven parallel robots and redundant rigid parallel robots

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Frontiers of Mechanical engineering 2023年第4期18卷 97-117页

作者： Yuheng WANG Xiaoqiang TANG State Key Laboratory of Tribology Department of Mechanical EngineeringTsinghua UniversityBeijing 100084China Beijing Key Laboratory of Precision/Ultra-Precision Manufacturing Equipment and Control Tsinghua UniversityBeijing 100084China

The internal force antagonism(IFA)problem is one of the most important issues limiting the applications and popularization of redundant parallel robots in *** cable-driven parallel robots(RCDPRs)and redundant rigid parallel robots(RRPRs)behave very differently in this *** clarify the essence of IFA,this study first analyzes the causes and influencing factors of ***,an evaluation index for IFA is proposed,and its calculating algorithm is ***,three graphical analysis methods based on this index are ***,the performance of RCDPRs and RRPRs in IFA under three configurations are *** show that RRPRs produce IFA in nearly all the areas of the workspace,whereas RCDPRs produce IFA in only some areas of the workspace,and the IFA in RCDPRs is milder than that ***,RCDPRs more fault-tolerant and easier to control and thus more conducive for industrial application and popularization than ***,the proposed analysis methods can be used for the configuration optimization design of RCDPRs.

关键词： cable-driven parallel robots parallel robots redundant robots evaluation index force solution space

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Solar evaporation for simultaneous oil-water separation and electricity generation with Janus wood-based absorbers

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Frontiers of Environmental Science & engineering 2024年第2期18卷 13-23页

作者： Yue Yang Ze Fu Qi Zhang Jiangsu Key Laboratory of Chemical Pollution Control and Resources Reuse School of Environmental and Biological EngineeringNanjing University of Science&TechnologyNanjing 210094China Key Laboratory of Industrial Ecology and Environmental Engineering(Ministry of Education) School of Environmental Science and TechnologyDalian University of TechnologyDalian 116024China National Laboratory of Solid State Microstructures Collaborative Innovation Center of Advanced MicrostructuresCollege of Engineering and Applied SciencesKey Laboratory of Intelligent Optical Sensing and Manipulation(Ministry of Education)Jiangsu Key Laboratory of Artificial Functional MaterialsNanjing UniversityNanjing 210093China

Oily wastewater from ocean oil spills endangers marine ecosystems and human health. Therefore, developing an effective and sustainable solution for separating oil-water mixtures is urgent. Interfacial solar photothermal evaporation is a promising approach for the complete separation of two-phase mixtures using only solar energy. Herein, we report a carbonized wood-based absorber with Janus structure of comprising a hydrophobic top-layer and an oleophobic bottom-layer for simultaneous solar-driven oil-water separation and electricity generation. Under sunlight irradiation, the rapid evaporation of seawater will induce a separation of oil-water mixtures, and cause a high salt concentration region underlying the interface, while the bottom “bulk water” maintains in a low salt concentration, thus forming a salinity gradient. Electricity can be generated by salinity gradient power. Therefore, oil-water separation efficiency of > 99% and derived extra electricity power of ~0.1 W/m2 is achieved under solar radiation, demonstrating the feasibility of oil-water separation and electricity production synchronously directly using solar energy. This work provides a green and cost-effective path for the separation of oil-water mixtures.

关键词： Oily wastewater Carbonized wood Salinity gradient Electricity generation Solar irradiation

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Detection of Oscillations in Process control Loops From Visual Image Space Using Deep Convolutional Networks

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IEEE/CAA Journal of Automatica Sinica 2024年第4期11卷 982-995页

作者： Tao Wang Qiming Chen Xun Lang Lei Xie Peng Li Hongye Su the Department of Electronic Engineering the School of InformationYunnan UniversityKunming 650091China DAMO Academy Alibaba GroupHangzhou 311100China the State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and ControlZhejiang UniversityHangzhou 310027China

Oscillation detection has been a hot research topic in industries due to the high incidence of oscillation loops and their negative impact on plant *** numerous automatic detection techniques have been proposed,most of them can only address part of the practical *** oscillation is heuristically defined as a visually apparent periodic ***,manual visual inspection is labor-intensive and prone to missed *** neural networks(CNNs),inspired by animal visual systems,have been raised with powerful feature extraction *** this work,an exploration of the typical CNN models for visual oscillation detection is ***,we tested MobileNet-V1,ShuffleNet-V2,Efficient Net-B0,and GhostNet models,and found that such a visual framework is well-suited for oscillation *** feasibility and validity of this framework are verified utilizing extensive numerical and industrial *** with state-of-theart oscillation detectors,the suggested framework is more straightforward and more robust to noise and *** addition,this framework generalizes well and is capable of handling features that are not present in the training data,such as multiple oscillations and outliers.

关键词： Convolutional neural networks(CNNs) deep learning image processing oscillation detection process industries

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A theoretical and deep learning hybrid model for predicting surface roughness of diamond-turned polycrystalline materials

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International Journal of Extreme Manufacturing 2023年第3期5卷 620-644页

作者： Chunlei He Jiwang Yan Shuqi Wang Shuo Zhang Guang Chen Chengzu Ren Tianjin Key Laboratory of Equipment Design and Manufacturing Technology Department of Mechanical EngineeringTianjin UniversityTianjin 30054People’s Republic of China Department of Mechanical Engineering Keio UniversityYokohama 223-8522Japan Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System School of Mechanical EngineeringTianjin University of TechnologyTianjin 300384People’s Republic of China School of Mechanical Engineering Yanshan UniversityQinhuangdao 066004People’s Republic of China

Polycrystalline materials are extensively employed in *** surface roughness significantly affects the working *** defects,particularly grain boundaries,have a great impact on the achieved surface roughness of polycrystalline ***,it is difficult to establish a purely theoretical model for surface roughness with consideration of the grain boundary effect using conventional analytical *** this work,a theoretical and deep learning hybrid model for predicting the surface roughness of diamond-turned polycrystalline materials is *** kinematic–dynamic roughness component in relation to the tool profile duplication effect,work material plastic side flow,relative vibration between the diamond tool and workpiece,etc,is theoretically *** material-defect roughness component is modeled with a cascade forward neural *** the neural network,the ratio of maximum undeformed chip thickness to cutting edge radius RT S,work material properties(misorientation angle θ_(g) and grain size d_(g)),and spindle rotation speed n s are configured as input *** material-defect roughness component is set as the output *** validate the developed model,polycrystalline copper with a gradient distribution of grains prepared by friction stir processing is machined with various processing parameters and different diamond *** with the previously developed model,obvious improvement in the prediction accuracy is observed with this hybrid prediction *** on this model,the influences of different factors on the surface roughness of polycrystalline materials are *** influencing mechanism of the misorientation angle and grain size is quantitatively *** fracture modes,including transcrystalline and intercrystalline fractures at different RTS values,are ***,optimal processing parameters are obtained with a simulated annealing *** experiments are performed with

关键词： diamond turning material-defect roughness component polycrystalline copper neural network simulated annealing algorithm

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A critical review on lead migration, transformation and emission control in Chinese coal-fired power plants

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Journal of Environmental Sciences 2023年第2期124卷 397-413页

作者： Yicheng Wang Hongyun Hu Xinye Wang Huimin Liu Lu Dong Guangqian Luo Yongchun Zhao Hong Yao State Key Laboratory of Coal Combustion School of Energy and Power EngineeringHuazhong University of Science and TechnologyWuhan 430074China Jiangsu Provincial Key Laboratory of Materials Cycling and Pollution Control School of Energy and Mechanical EngineeringNanjing Normal UniversityNanjing 210023China

Coal is widely utilized as an important energy source,but coal-fired power plant was considered to be an important anthropogenic lead emission *** the present study,the distribution characteristics of lead in coal and combustion by-products are ***,lead is mainly transferred to ash particles and the formation and migration mechanisms of particulate lead are ***,targeted measures are proposed to control the formation of fine particulate lead as well as to increase the removal efficiency during the low-temperature flue gas clean *** detail,interactions between gaseous lead and some coal-bearing minerals or added adsorbents could obviously suppress the formation of fine particulate *** the other hand,some efforts(including promoting capture of fine particles,reducing resistivity of particles and strengthening the gas-liquid contact)could be made to improve the fine particulate lead removal ***,the formation mechanism of fine particulate lead is still unclear due to the limitations of research *** differences in the removal principles of fine particles and particulate lead make the lead emission precisely control a great ***,the environmental potential risk of lead emission from flue gas and ash residues is addressed and further discussed.

关键词： Coal combustion Particulate lead Formation and migration Removal strengthen Environmental risk

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Path Planning Algorithm for Manipulator Based on Manipulability-Maximizing 13

Path Planning Algorithm for Manipulator Based on Manipulabil...

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13th IEEE Data Driven control and Learning Systems Conference, DDCLS 2024

作者： Zhang, Rui Liu, Shan College of Control Science and Engineering Zhejiang University State Key Laboratory of Industrial Control Technology Hangzhou310027 China

ISBN: (纸本)9798350361674

An improved path planning algorithm based on RRT∗ is proposed for the manipulator to generate a collision-free path for end-effector in this paper, which maximizes the manipulator's manipulability throughout the entire path. The algorithm introduces manipulability information as prior information to guide the RRT node toward desired regions. By introducing hybrid cost into improved RRT* algorithm, the path length is minimized while the expected manipulability is maximized. Finally, the end-effector path is transformed into a configuration trajectory by solving a multi-objective optimization problem. The simulation results compared with RRT* demonstrates the effectiveness of the proposed algorithm. © 2024 IEEE.

关键词： End effectors

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Impacts of o-cresol spill on composition and function of river sediment and soil microbial communities

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Environmental Science and Pollution Research 2024年第22期31卷 31978-31988页

作者： Chen, Xiuli Yang, Yuyin Wang, Ji Pan, Chaoyi Zhang, Zhengke Chen, Sili Xie, Shuguang State Key Joint Laboratory of Environmental Simulation and Pollution Control College of Environmental Sciences and Engineering Peking University Beijing100871 China Guangzhou510655 China

o-Cresol is a toxic substance with strong irritating and corrosive effects on skin and mucous membranes. To date, information on the effects of o-cresol on microbial communities in the natural environment is very limited. In the present study, 16S rRNA sequencing and metagenomic technique were carried out to elucidate the effects of the o-cresol spill on microbial communities in river sediments and nearby soils. o-Cresol spill induced the increase in the relative abundance of phyla Planctomycetes and Gemmatimonadetes, suggesting their resilience to o-cresol-induced stress. Uncultured Gemmatimonadetes genera and the MND1 genus exhibited enrichment, while the Pseudomonas genus dominated across all samples, indicating their potential pivotal roles in adapting to the o-cresol spill. Moreover, o-cresol spill impaired the metabolic functions of microbes but triggered their defense mechanisms. Under o-cresol pressure, microbial functions related to carbon fixation were upregulated and functions associated with sulfur metabolism were downregulated. In addition, the o-cresol spill led to an increase in functional genes related to the conversion of o-cresol to 3-methylcatechol. Several genes involved in the degradation of aromatic compounds were also identified, potentially contributing to the biodegradation of o-cresol. This study provides fresh insights into the repercussions of an abrupt o-cresol spill on microbial communities in natural environments, shedding light on their adaptability, defense mechanisms, and biodegradation potential. © The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature 2024.

关键词： Sediments

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Effects of acid deposition control in China:a review based on responses of subtropical forests

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Frontiers of Environmental Science & engineering 2024年第6期18卷 115-126页

作者： Danni Xie Xiaodong Ge Lei Duan Jan Mulder School of Land Engineering Chang’an UniversityXi’an 710064China State Key Laboratory of Environmental Simulation and Pollution Control School of EnvironmentTsinghua UniversityBeijing 100084China State Environmental Protection Key Laboratory of Sources and Control of Air Pollution Complex Beijing 100084China Faculty of Environmental Sciences and Natural Resource Management Norwegian University of Life SciencesBox 5003NO-1432ÅsNorway

For many decades,acid deposition used to pose a significant regional air pollution challenge in *** substantial emission control of anthropogenically derived sulfur and nitrogen containing gasses,both sulfur and nitrogen deposition,as well as the acid rain-affected area,have significantly decreased compared to their peak ***,particularly in the humid subtropics,are sensitive to acid deposition,as evidenced by soil acidification,sulfate and nitrate leaching in stream water,and elevated soil nitrous oxide *** in the total deposition of sulfur and nitrogen,caused a significant decline in sulfate and nitrate leaching from subtropical forest and subsequently in sulfate and nitrate concentrations in stream water,although there was about a 5-year *** delay may be attributed to the desorption of accumulated sulfate and continued elevated mineralization of accumulated nitrogen *** of nitrous oxide,a potent greenhouse gas,also declined in nitrogen-saturated subtropical forest soils,as soil water nitrate concentration ***,subtropical forests in China suffering from elevated acid deposition have begun to ***,the current levels of sulfur and nitrogen deposition continue to exceed the critical loads,i.e.,the assigned threshold levels in accordance with emission control policies,in more than 10%of the country’s land area,respectively,indicating remaining risks of acidification and ***,further emission reductions are urgently needed,also because they will help achieving goals related to air quality and nitrous oxide emissions.

关键词： Acidification Critical load Nitrous oxide Surface water chemistry Recovery

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A comprehensive review of electro-tribological behavior in conductive lubricants

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Friction 2025年第4期13卷 17-45页

作者： Xiang Xi Zijie Zhao Hailong Li Wei Gu Wen Xie Wenyi Zhang Chih-An Lo Lin Xue Hongqiang Chu Linhua Jiang College of Civil and Transportation Engineering Hohai UniversityNanjing 210098 State Key Laboratory of High Performance Civil Engineering Materials Jiangsu Research Institute of Building Science Co.Ltd.Nanjing 210008China School of Mechatronical Engineering Beijing Institute of TechnologyBeijing 100081China Department of Industrial and Systems Engineering University at BuffaloBuffaloNY 14260USA College of Materials Science and Engineering Hohai UniversityChangzhou 213000China

The electric machinery industry is currently facing a significant challenge in the application of electrical contact materials with appropriate electrical and tribological *** use of conductive lubricants,including liquid,solid,and semi-solid varieties,represents a key approach to meeting technical and sustainable *** strategy is closely linked to the development of multifunctional additives with excellent conduction properties in response to the growing concerns regarding the increased durability of electrical *** paper provides a comprehensive review of prior research in this area,specifically studies investigating conductive lubricants incorporating conductive additives and demonstrating exceptional electro-tribological *** conductive additives have been incorporated into these lubricants,each providing unique advantages,such as enhancing conductive connectivity,reducing friction and wear,and improving the dispersion of other functional *** review covers a range of conductive materials,including carbon-based materials(carbon nanotubes,graphene nanosheets,carbon black,etc.),ionic liquids(ILs),metals(soft metal-based composites,gallium-based liquid metals),MAX phases,semiconductors,and conductive polymers,and discusses their impact on the electrical conductivity and electro-tribological properties of conductive ***,the electro-tribological properties of insulating lubricants are *** conductive lubricants are identified based on comparisons of their electrical conductivity,coefficient of friction(COF),wear rate,and electrical contact resistance(ECR)under various current-carrying friction(CCF)*** conclusion,it is found that conductive lubricants effectively reduce friction and wear under current-carrying conditions,thus contributing to the advancement of the electrical machinery *** paper also outlines potential research directions in this field,pointin

关键词： conductive lubricants electro-tribological properties electric contact friction and wear conductivity

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Design of Double-Loop Current Transformer Based on Magnetic Field Incomplete Cancellation

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CSEE Journal of Power and Energy Systems 2025年第2期11卷 772-782页

作者： Wenbo Li Xiaojun Tang Youshui Lu Ling Yan Yi Wu Mingzhe Rong Department of Measurement and Control Technology&Instrumentation School of Electrical EngineeringXi'an Jiaotong UniversityXi'an 710000China State Key Laboratory of Electrical Insulation&Power Equipment School of Electrical EngineeringXi'an Jiaotong UniversityXi'an 710000China

Electromagnetic current transformer is one of the important pieces of equipment used in AC power system measurement. Due to continuous improvement of current level to be measured in the power system, ordinary single-loop magnetic core structure cannot meet industrial needs of wide measuring range with high accuracy, while it even has a magnetic saturation problem when measured current is reaching the limit. Most existing methods expand measuring range and increase antisaturation ability of the magnetic core by either opening an air gap in the magnetic core or increasing number of turns of primary and secondary windings, but it will bring additional problems such as volume and heat dissipation of the transformer. To solve such issues, in this paper, we proposed a magnetic core structure of double-loop current transformer based on incomplete magnetic field cancellation principle. Calculation formula of air gap size and theoretical error are analyzed. We provide a theo-retical analysis of working characteristics, amplitude error and phase error throughout a three-dimensional simulation model of transformer. In addition, we evaluate performance through a series of comparison experiments. Results demonstrate our double-loop current transformer can maintain good linear relationship between primary and secondary current while ensuring measurement accuracy at 0.2 level. With the same volume, it has a wider range of rated current measurements and a certain anti-saturation ability.

关键词： Current difference coefficient double-loop core incomplete magneticfield cancellation

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