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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Zhao, Zhiyuan Yang, Xiaohang Xu, Zichun Li, Yuntao Tian, Zhonglai Zhao, Jingdong State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Province Harbin China

ISBN: (纸本)9798350320831

This paper investigates a reconfigurable space manipulator's inverse kinematics (IK) with two lockable passive telescopic links (LPTLs). Depending on these LPTLs' locking state, the manipulator includes free-space and reconfiguration operation modes. Firstly, we introduce a new ball joint-based solution for the reconfigurable operation mode. Then, we propose an IK simplified method capable of significantly reducing the computational load of the complex inverse differential kinematic (IDK) equations corresponding to the two operation modes. Next, to solve the resulting simplified IDK equations efficiently, we present an IK solution method based on the closed-loop algorithm. This method is developed to resolve the redundancy at the velocity level and can generate highly accurate and smooth trajectory IK solutions that satisfy the joint limit constraints. Finally, we design two typical case studies corresponding to working scenarios of the manipulator during two operation modes. Their simulation results validate the proposed methods' effectiveness. © 2023 IEEE.

关键词： Inverse kinematics

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Coordinated Control of New Energy Stations Based on Thevenin Equivalent Parameters Identification 9th

Coordinated Control of New Energy Stations Based on Thevenin...

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9th Purple Mountain Form on Smart Grid Protection and Control, PMF 2024

作者： Xijie, Zhao Yanhong, Bao Feng, Wu Jinlong, Zhang Xiancheng, Ren Weitao, Wang State Key Laboratory of Technology and Equipment for Defense Against Power System Operational Risks Nanjing211106 China Nanjing211106 China

ISBN: (纸本)9789819616701

In the context of a high proportion of new energy power system, the randomness and volatility of new energy output and the imbalance of spatial distribution seriously affect the voltage and frequency security and stability of the power system. Aiming at the current frequency and voltage decoupling control of new energy field station may not be able to meet the demand of safe and stable operation, this paper proposes a coordinated control method of active and reactive power of new energy field station. On the basis of considering the influencing factors such as large fluctuation of new energy output of the system and dynamic behavior of the system load, the Thevenin Equivalent Parameters (TEP) identification method based on Sage-Husa Adaptive Kalman Filtering is used to correct the TEP issued by the dispatch center to obtain the accurate TEP of the system at the current moment. Based on the system TEP and network current information, the system grid voltage value is calculated under the situation of active standby transferring out or output increasing in new energy stations, and the voltage safety requirement of Point of Common Coupling (PCC) is met by coordinating and controlling the active and reactive power of equipment in the stations. The validity of the coordinated control of active and reactive power is proved by the simulation examples. © state Grid Electric Power 2025.

关键词： Adaptive filtering

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Hybrid Joint-space Control Strategies Analysis for One-redundant Cable Suspended Parallel Robots 1

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23rd IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2022

作者： Qin, Zhiwei Liu, Zhen Gao, Haibo State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Harbin150000 China

ISBN: (数字)9789811993985

ISBN: (纸本)9789811993978

Hybrid joint-space control strategy, where some redundant cables are force control, while other cables perform the length control, has the ability to control the robots with small pose errors, and maintain all cables tensioned at the same time. In the cable-driven parallel robots with redundant drives, all the cable tensions have a predicable range, we called cable adjustable force (CAF) in this study. This work aims at investigating the relationships between the CAF of target force-controlled cables, and the pose errors under the hybrid joint-space control strategy. A simulation framework, considering interfering cable length and cable forces, is developed to analysis the characters of hybrid-input control strategy, based on a cable suspended with one redundant layout. We found that the CAF is related to the pose control error of the end-effector, and can be regard as a selection criteria for the target cable for the force control in the hybrid joint-space control strategy. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Cables

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Electronically enhancing the long-range nanopositioning accuracy of a Lorentz force actuator

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Frontiers of Information technology & Electronic Engineering 2023年第7期24卷 1080-1092页

作者： Bimal Jeet GOTEEA Qianjun ZHANG Wei DONG State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

This paper presents a precision centimeter-range positioner based on a Lorentz force actuator using flexure *** additional digital-to-analog converter and an operational amplifier(op amp)circuit together with a suitable controller are used to enhance the positioning accuracy to the nanometer ***,a suitable coil is designed for the actuator based on the stiffness of the flexure guide *** flexure mechanism and actuator performance are then verified with finite element *** on these,a means to enhance the positioning performance electronically is presented together with the control ***,a prototype is fabricated,and the performance is *** positioner features a range of 10 mm with a resolution of 10 *** proposed scheme can be extended to other systems.

关键词： Nanopositioning Flexure guides Long range Voice coil motor Lorentz force actuator

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General Dynamics Modeling and Simulation Analysis of Multi-degree of Freedom Flexible Manipulators 23rd

General Dynamics Modeling and Simulation Analysis of Multi-d...

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23rd IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2022

作者： Jin, Xichen Tong, Zhizhong Gao, Haibo State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Harbin150000 China

ISBN: (纸本)9789811993978

This paper presents a general method for dynamic modeling of three-dimensional flexible manipulator with multiple degrees of freedom based on Lagrange’s second kind of dynamic equation. Firstly, the dynamic model of flexible joint considering joint stiffness, joint damping, joint friction and joint clearance is deduced, and the dynamic model of flexible rod considering internal structural damping of flexible rod is deduced by using hypothetical modal method. Secondly, the overall dynamic model of flexible manipulator is obtained by comprehensively considering the flexibility of joint and rod. The joint pair has two settings: rotating pair and moving pair. Finally, the simulation experiment of five degree of freedom series flexible manipulator is carried out to verify the correctness of the dynamic modeling method of multi degree of freedom flexible manipulator. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Flexible manipulators

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Research on package corrosion weakness of IGBT module in high humidity application environment 6

Research on package corrosion weakness of IGBT module in hig...

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6th IEEE International Electrical and Energy Conference, CIEEC 2023

作者： Fan, Chengyi Jia, Dongqiang Du, Xiong State Key Laboratory of Power Transmission Equipment & System Security and New Technology Chongqing China

ISBN: (纸本)9798350346671

IGBT modules have been widely used in many fields such as renewable energy generation and rail transportation because of their excellent switching performance. However, the application reliability of IGBT modules is affected by many factors, among which humidity is one of the most serious factors threatening the health of IGBT modules. In high humidity applications, moisture tends to penetrate inside the module, which lead to corrosion and degradation of the module. In this paper, finite element simulation reveals that the bonding line and the solder layer are the weak points of the IGBT module packaging corrosion in high humidity application environment, which provide guidance for improving IGBT module packaging and designing reliability enhancement scheme. © 2023 IEEE.

关键词： Insulated gate bipolar transistors (IGBT)

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Effect of organophilic group of coupling agent on the electrical performance of Boron Nitride/meta-aramid composite paper

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High Voltage 2023年第4期8卷 760-771页

作者： Haoou Ruan Qing Xie Jingxuan Song Shenghui Wang Xiaobin Chang Yuqin Xu Fangcheng Lü State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources North China Electric Power UniversityBeijingChina Ganzhou Longpunt Material Technology Co. LtdGanzhouChina

Organophilic groups of coupling agents can be the key factor for the electrical performance of Boron Nitride(BN)/meta-aramid composite *** this article,four types of triethoxy-silane coupling agents with different organophilic groups,including mercaptopropyl(MP),glycidylether-propyl(GP),amino-propyl(AP)and trideca-fluoro-octyl(TFO)were *** structural and electrical properties of modified papers were compared,and the molecular simulation was conducted to reveal the interface interaction of modified BN and *** results show that AP,GP and MP follow the same mechanism,improving the electrical performance by modifying the interface stability and paper structure,and the ranks of improving effects are AP,MP and ***,TFO mainly relies on the fluorine components to implement the electrical reinforcement,which compensates for the shortcoming in the paper *** choosing TFO and filler content of 15 wt%,the optimal breakdown strength of the paper can be increased to 28.17 kV/mm,1.8 times that of the paper doped with the hydroxylated BN.

关键词： composite electrical coupling

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Revisit power system dispatch:Concepts,models,and solutions

iEnergy

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iEnergy 2023年第1期2卷 43-62页

作者： Zhifang Yang Pei Yong Mingxu Xiang State Key Laboratory of Power Transmission Equipment&System Security and New Technology College of Electrical EngineeringChongqing UniversityChongqing 400044China State Key Laboratory of Power Systems Department of Electrical EngineeringTsinghua UniversityBeijing 100084China

Power system dispatch is a general concept with a wide range of *** is a special category of optimization problems that determine the operation pattern of the power system,resulting in a huge influence on the power system security,efficiency,and *** this paper,the power system dispatch problem is revisited from the *** paper provides a categorization of the dispatch problem,especially with an emphasis on industrial ***,this paper presents a detailed review of the dispatch *** common formulations of the dispatch problem are ***,this paper discusses the solutions of the dispatch problem and lists the major challenges.

关键词： Power system dispatch optimal power flow unit commitment energy storage

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Functionalised B-Cu@F-Ag@Au trimetallic nanomaterials with long term stability for rapid and highly sensitive in situ SERS detection of furfural in transformer oil

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High Voltage 2023年第2期8卷 293-304页

作者： Yu Lei Changding Wang Weiping Kong Mingliang Wang Xinyuan Zhang Abdolmaleki Nima Caisheng Wang Weigen Chen Fu Wan School of Electrical Engineering Chongqing UniversityChongqingChina State Key Laboratory of Power Transmission Equipment and System Security and New Technology Chongqing UniversityChongqingChina Electrical and Computer Engineering Wayne State UniversityWayneNebraskaUSA

The surface-enhanced Raman scattering(SERS)substrates enable a highly sensitive detection of furfural in the transformer ***,detection substrates with long-term stability are still extremely *** this work,we anchored the thiol-containing coupling agents 2,5-dimercapto-1,3,4-thiadiazole(DMTD)and 1,4-benzenedithiol(BDT)on the surface of bubble copper(B-Cu)and flower-like silver nanoparticles(FAg),*** three-dimensional SERS detection substrates with long-term stability by using a combination of chemical reduction and self-assembly methods were *** substrate has a minimum detection limit of 10^(−9) M for rhodamine B in oil with an enhancement factor of up to 2.23×10^(7).Importantly,the three-crystal BCu@F-Ag_(1)@Au_(5) substrate was used for the detection of furfural in the transformer oil with a detection limit of 2 mg/L and a relative standard deviation value of 2.46%.After 60 days of a simulated operation,the detection signal of furfural in the transformer oil samples at 75℃ and still reached the initial value of 77.53%,indicating that the substrate has a good long-term *** triple frame structured SERS detection platform shows great potential in tracking furfural in the aging transformer oil mixing systems.

关键词： stability. stability SERS

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Geochemical evolution of Mesozoic and Cenozoic mafic igneous rocks in the eastern Tethyan realm:Implications for the tectonic evolution of convergent plate margins

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Science China Earth Sciences 2025年第4期68卷 1116-1141页

作者： Long CHEN YongFei ZHENG Frontiers Science Center for Deep Ocean Multispheres and Earth System Key Lab of Submarine GeoSciences and Prospecting TechniquesMOE and College of Marine GeoSciencesOcean University of ChinaQingdao266100China Laoshan Laboratory Qingdao266237China State Key Laboratory of Lithospheric and Environmental Coevolution School of Earth and Space SciencesUniversity of Science and Technology of ChinaHefei230026China

The convergent plate margins of Paleo-Tethys Ocean and Neo-Tethys Ocean are the two orogenic belts in the eastern Tethyan realm with the best exposures of igneous *** studies have revealed that both belts have developed not only island arc basalts(IAB)-like mafic magmatism but also ocean island basalts(OIB)±mid-ocean ridge basalts(MORB)-like mafic magmatism in various stages of their formation and *** different types of mafic igneous rocks show both similarity and difference that were acquired in the various stages from oceanic subduction through continental collision to intracontinental *** examination and comparison of these igneous rocks can provide insights into the tectonic evolution of the eastern Tethyan *** study integrates the spatiotemporal distribution and geochemical compositions of Mesozoic and Cenozoic primitive mafic igneous rocks in the eastern Tethyan realm within *** results show:(1)in addition to the stage of oceanic subduction,the stages of continental collision and intracontinental reworking are the primary periods of mafic magmatic activity at convergent plate margins,consistent across the Paleo-Tethyan and Neo-Tethyan domains.(2)OIB(±MORB)-like mafic igneous rocks are present not only in the stage of continental collision in both domains but also in the stage of intracontinental reworking in the Paleo-Tethyan domain.(3)In the stages from oceanic subduction to continental collision,the compositions of IAB-like mafic igneous rocks in both domains exhibit continuous variations,with remarkable similarities in lithology,elemental and isotopic characteristics,indicating their formation through similar deep geodynamic processes—partial melting of the mantle wedge metasomatized by subducting slab-derived fluids in the forms of aqueous solution and/or hydrous *** a consequence,the mafic igneous rocks display more compositional inheritance than *** the stage of continental collision,

关键词： Convergent plate margin Oceanic subduction Continental collision Intracontinental reworking Mafic magma-tism Crust-mantle interaction

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