检索结果-内蒙古大学图书馆

17th Annual Conference of China Electrotechnical Society, CES 2022

作者： Li, Hui Chen, Siyu Yao, Ran Zhou, Bailing Lai, Wei Li, Jinyuan Chen, Zhongyuan Li, Yaosheng State Key Laboratory of Power Transmission Equipment and System Security and New Technology Chongqing University Chongqing400044 China State Key Laboratory of Advanced Transmission Technology Global Energy Interconnection Research Institute Co Ltd. Beijing102209 China

ISBN: (纸本)9789819904075

In this paper, the reliability lifetime of SiC IGBT devices is predicted with wire-bonded packaging and press-pack packaging approaches. Firstly, the electro-thermal-mechanical coupling models of SiC IGBT devices with different packaging approaches are established. Secondly, the steady-state and the power cycling simulation studies are carried out to analyze the difference of internal stress and weak point between the two packaging structures of SiC IGBT devices. Finally, the reliability lifetime model of SiC IGBT devices with different packaging approaches is proposed. The influences of junction temperature fluctuation, average temperature, and conduction current condition on the lifetime of SiC IGBT devices are evaluated. The results show that the SiC IGBT chip with the press-pack packaging has a higher lifetime than the wire-bonded packaging, and it is helpful for the packaging designing of ultra-high voltage SiC IGBT device in the future. © 2023, Beijing Paike Culture Commu. Co., Ltd.

关键词： Silicon carbide

来源：评论

学校读者我要写书评

暂无评论

Research on Smooth Movement Control and Testing of a Wheeled-Legged Robot

Research on Smooth Movement Control and Testing of a Wheeled...

引用

IEEE International Conference on Mechatronics and Automation

作者： Jingyu Wang Daming Li Zhijun Zhao Wang Jie Yaobing Wang Junkai Sun Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

This paper focuses on the application of wheeledlegged robots for extraterrestrial exploration. To address the stability and terrain adaptability issues during planetary surface exploration, a novel motion control strategy integrating body attitude control and support force control is proposed based on kinematic inverse solution. This strategy adjusts the body posture by dynamically regulating the length of each leg to ensure sufficient wheel-ground contact force while traversing rough terrains. The paper also conducts simulation and tests of the wheeled-legged robot in typical terrains. Results demonstrate that the proposed algorithm effectively overcomes terrain variations and enhances stability during the robot's movement.

关键词： Legged locomotion Attitude control Force Wheels Kinematics Stability analysis Surface roughness

来源：评论

学校读者我要写书评

暂无评论

General closed-form inverse kinematics for arbitrary three-joint subproblems based on the product of exponential model

引用

Frontiers of Mechanical Engineering 2022年第2期17卷 85-101页

作者： Tao SONG Bo PAN Guojun NIU Jiawen YAN Yili FU State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China School of Mechanical Engineering and Automation Zhejiang Sci-Tech UniversityHangzhou 310018China

The inverse kinematics problems of robots are usually decomposed into several Paden–Kahan subproblems based on the product of exponential model. However, the simple combination of subproblems cannot solve all the inverse kinematics problems, and there is no common approach to solve arbitrary three-joint subproblems in an arbitrary postural relationship. The novel algebraic geometric (NAG) methods that obtain the general closed-form inverse kinematics for all types of three-joint subproblems are presented in this paper. The geometric and algebraic constraints are used as the conditions precedent to solve the inverse kinematics of three-joint subproblems. The NAG methods can be applied in the inverse kinematics of three-joint subproblems in an arbitrary postural relationship. The inverse kinematics simulations of all three-joint subproblems are implemented, and simulation results indicating that the inverse solutions are consistent with the given joint angles validate the general closed-form inverse kinematics. Huaque III minimally invasive surgical robot is used as the experimental platform for the simulation, and a master–slave tracking experiment is conducted to verify the NAG methods. The simulation result shows the inverse solutions and six sets given joint angles are consistent. Additionally, the mean and maximum of the master–slave tracking experiment for the closed-form solution are 0.1486 and 0.4777 mm, respectively, while the mean and maximum of the master–slave tracking experiment for the compensation method are 0.3188 and 0.6394 mm, respectively. The experiments results demonstrate that the closed-form solution is superior to the compensation method. The results verify the proposed general closed-form inverse kinematics based on the NAG methods.

关键词： inverse kinematics Paden-Kahan subproblems three-joint subproblems product of exponential closed-form solution

来源：评论

学校读者我要写书评

暂无评论

Optimization of Energy Storage for a Miniature Water Jumping Robot 1

引用

16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Zhang, Shihao Zhang, Xin Yan, Jihong State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Harbin150001 China Laboratory for Space Environment and Physical Sciences Harbin Institute of Technology Heilongjiang Harbin150001 China

ISBN: (数字)9789819964987

ISBN: (纸本)9789819964970

The water-jumping robot’s energy storage size is the key to improving the jumping performance. Materials with high energy density and large deformability are chosen as robotic energy storage elements, and the storage energy size of water jumping robots can be increased. We design an energy storage mechanism with latex and carbon composite fiber with large deformability and high energy density. The carbon composite fiber deformation was solved the by differential iteration method, and we developed its deformation-force-energy storage model. The energy storage size is increased by optimizing the energy storage elements’ dimensional parameters and their installation location. We designed a water jumping robot based on the optimized energy storage mechanism. The optimized robot prototype is manufactured with a weight of 95 g, and the length, width, and height of the robot are 260 mm, 150 mm, and 100 mm, respectively. It has the ability to take off from the water. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Iterative methods

来源：评论

学校读者我要写书评

暂无评论

Effects of Inlet Conditions on the Two-Phase Flow Water Hammer Transients in Elastic Tube 23rd

Effects of Inlet Conditions on the Two-Phase Flow Water Hamm...

引用

23rd Pacific Basin Nuclear Conference, PBNC 2022

作者： Zhao, Zixiang Duan, Zhongdi Xue, Hongxiang Yuan, Yuchao Liu, Shiwen State Key Laboratory of Ocean Engineering Shanghai Jiao Tong University Shanghai China Science and Technology on Reactor System Design Technology Laboratory Nuclear Power Institute of China Chengdu China

ISBN: (纸本)9789819910229

Two-phase flow water hammer events occur in the pipelines of the nuclear power systems and lead to transient and violent pressure shock to tube structures. For the sake of operation safety, the occurrence and severity of the two-phase water hammer should be carefully assessed. This paper presents a parameter analysis of the inlet conditions on the two-phase flow water hammer transients, with considering the elastic effect of the tube walls. A numerical model is established for the vapor-liquid two-phase flow based on the two-fluid six-equation modelling approach, with incorporating correlations and criterions for two-phase flow regime, interfacial interactions and heat transfer. The governing equations are transformed to matrix form expressed by characteristic variables, and solved using the splitting operator method and the total variation diminishing scheme. The accuracy of the model is verified against the experimental data in open literature. Then, the model is applied to investigate the effect of inlet velocity and inlet water temperature on the two-phase flow water hammer transients. The simulation results show that the increase of inlet velocity increases the pressure peak values and brings forward the onset of water hammer, and the increase of inlet temperature decreases the pressure shock. A comparison of the water hammer results between the elastic tube and rigid tube is further presented, and the effect of the elastic modulus on the water hammer is analyzed. The results also show that the pressure peak is largely affected by the tube diameter. © 2023, The Author(s).

关键词： Condensation

来源：评论

学校读者我要写书评

暂无评论

Distributionally Robust Scheduling for Benefit Allocation in Regional Integrated Energy system with Multiple Stakeholders

引用

Journal of Modern Power systems and Clean Energy 2024年第5期12卷 1631-1642页

作者： Qinglin Meng Xiaolong Jin Fengzhang Luo Zhongguan Wang Sheharyar Hussain the Comprehensive Service Center State Grid Tianjin Electric Power CompanyTianjin 300010China the Key Laboratory of Smart Grid of Ministry of Education School of Electrical and Information EngineeringTianjin UniversityTianjin 300072China the School of Electrical Engineering Tiangong UniversityTianjin 300387China the Key Laboratory of Smart Energy&Information Technology of Tianjin Municipality Tianjin 300072China the Institute of Marine Electronic and Intelligent System Ocean CollegeZhejiang UniversityZhoushanChina

A distributionally robust scheduling strategy is proposed to address the complex benefit allocation problem in regional integrated energy systems(RIESs)with multiple stakeholders.A two-level Stackelberg game model is established,with the RIES operator as the leader and the users as the *** considers the interests of the RIES operator and demand response users in energy *** leader optimizes time-of-use(TOU)energy prices to minimize costs while users formulate response plans based on prices.A two-stage distributionally robust game model with comprehensive norm constraints,which encompasses the two-level Stackelberg game model in the day-ahead scheduling stage,is constructed to manage wind power ***-Kuhn-Tucker(KKT)conditions transform the two-level Stackelberg game model into a single-level robust optimization model,which is then solved using column and constraint generation(C&CG).Numerical results demonstrate the effectiveness of the proposed strategy in balancing stakeholders'interests and mitigating wind power risks.

关键词： Regional integrated energy system(RIES) distributionally robust scheduling Stackelberg game uncertainty demand response

来源：评论

学校读者我要写书评

暂无评论

Minimizing Data Collection Latency for Coexisting Time-Critical Wireless Networks With Tree Topologies

引用

IEEE Transactions on Network and Service Management 2025年第3期22卷 2354-2369页

作者： Zhang, Jialin Liang, Wei Yang, Bo Shi, Huaguang Liang, Ying-Chang Shenyang Institute of Automation Key Laboratory of Networked Control System Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang110016 China Northwest A&F University College of Information Engineering Xianyang712100 China Henan University School of Artificial Intelligence Zhengzhou450046 China University of Electronic Science and Technology of China Center for Intelligent Networking and Communications Chengdu611731 China

Time-Critical Wireless Network (TCWN) is a promising communication technology that can satisfy the low latency, high reliability, and deterministic requirements of mission-critical applications. Multiple TCWNs required by various applications inevitably coexist with each other. Most existing works aim to achieve acceptable latency or consider the simplest topology (i.e., line topology). As latency requirements become more stringent, exploring the minimum data collection latency becomes an interesting problem. In this paper, the coexisting system consists of multiple tree-topology-based TCWNs. We first establish a conversion framework to convert an arbitrary tree topology into multiple analogous line topologies to reduce the analysis complexity. We then propose a Time-Critical wireless network Scheduling (TCS) algorithm to minimize the data collection latency of coexisting TCWNs. The TCS algorithm consists of two phases. In the internetwork scheduling phase, we strictly derive a general expression to characterize the practical network requirements. In the intranetwork scheduling phase, we design two levels of priority assignment algorithms to accurately characterize the critical states and resource requirements of different nodes. We conduct extensive simulations to verify the effectiveness of the TCS algorithm. The evaluation results show that the TCS algorithm can achieve minimum data collection latency in more than 99.956% cases, and the maximum difference compared to the optimal value is one time slot. © 2004-2012 IEEE.

关键词： Scheduling algorithms

来源：评论

学校读者我要写书评

暂无评论

A Dual-Mode Micro Flapping Wing Robot with Water Gliding and Taking-Off Motion 16th

A Dual-Mode Micro Flapping Wing Robot with Water Gliding and...

引用

16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Wang, Fuguang Xu, Zhidong Yan, Jihong State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Harbin150001 China Laboratory for Space Environment and Physical Sciences Harbin Institute of Technology Heilongjiang Harbin150001 China

ISBN: (纸本)9789819964918

Multi-mode motion equips robots with better flexibility and adaptation for dynamically complex environments as well as low energy consumption, becoming a hot spot of robot research. In this work, a dual-mode miniature flapping wing robot featuring gliding and take-off on the water surface is designed via string actuation and attitude adjustment mechanism. The string actuation composed of line and roller is lightweight and adjustable, providing the pneumatic power required for the robot. The posture-modulation mechanism of spatial six bar ensures non-interference of the two motion manners without increasing weight. The dynamic model is established to optimize water-surface glide performance, and lift-force experiments with different wings are carried out for better taking-off properties. The gliding speed and take-off height of the robot are 290.9 mm/s with body length ratio 2.64 and 105 mm with body height 2.1, respectively. This work can provide a reference for the research of the multi-mode flapping wing robot. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd 2023.

关键词： Robots

来源：评论

学校读者我要写书评

暂无评论

The influence of drag parameter on submerged vegetation flow simulation using a porous approach

引用

Journal of Hydrodynamics 2024年第4期36卷 796-801页

作者： Meng-yang Liu Yi-sen Wang Yi-qing Gong Shu-xia Wang College of Water Conservancy and Hydropower Engineering Hohai UniversityNanjing 210098China State Key Laboratory of Water Resources Engineering and Management Wuhan UniversityWuhan 430072China River Research Department Changjiang River Scientific Research InstituteWuhan 430010China Key Laboratory of Hydrologic-Cycle and Hydrodynamic-System of Ministry of Water Resources Hohai UniversityNanjing 210098China Institute of Water Science and Technology Hohai UniversityNanjing 210098China

In simulating vegetated flows using the porous approach,the reasonableness of the drag coefficient significantly impacts the calculation *** study employs large eddy simulation(LES)to quantitatively investigate the effect of drag parameters on key flow characteristics in submerged vegetated *** results indicate that changes in the drag coefficient significantly alter the velocity in the middle of the vegetation layer and near the water surface in the free-flow *** with longitudinal velocity,the drag coefficient has a more pronounced effect on the vertical distribution of Reynolds stress,especially its peak at the top of the vegetation *** porous approach can accurately reproduce the vertical distribution of longitudinal velocity and Reynolds stress,consistent with experimental measurements,only when shear-scale flow *** to the high-intensity secondary flow under moderate vegetation density,fluctuations in the drag coefficient have a more significant impact on the numerical results than in very dense ***,selecting the drag coefficient value should be done cautiously,especially in the absence of experimental measurements for validation.

关键词： Drag parameter large eddy simulation(LES) submerged vegetation secondary flow porous approach

来源：评论

学校读者我要写书评

暂无评论

Enhanced nitrogen removal of the anaerobic ammonia oxidation process by coupling with an efficient nitrate reducing bacterium(Bacillus velezensis M3-1)

引用

Journal of Environmental Sciences 2024年第12期146卷 3-14页

作者： Wanlian Yuan Dongmin Yang Xupo Zhang Cancan Jiang Danhua Wang Jialiang Zuo Shengjun Xu Xuliang Zhuang School of Life Sciences Division of Life Sciences and MedicineUniversity of Science and Technology of ChinaHefei 230027China Key Laboratory of Environmental Biotechnology Research Center for Eco-Environmental SciencesChinese Academy of SciencesBeijing 100085China College of Resources and Environment University of Chinese Academy of SciencesBeijing 100049China State Key Laboratory of Tibetan Plateau Earth System Environment and Resources(TPESER)Institute of Tibetan Plateau ResearchChinese Academy of SciencesBeijing 100101China

Bacillus velezensis M3-1 strain isolated from the sediment of Myriophyllum aquatium con-structedwetlandswas found to efficiently convert NO_(3)^(-)-N to NO_(2)^(−)-N,and the requirements for carbon source additionwere not very *** demonstrates,for the first time,the feasibility of using the synergy of anammox and Bacillus velezensis M3-1 microorganisms for nitrogen *** this study,the possibility of M3-1 that converted NO_(3)^(−)-N produced by anammox to NO_(2)^(−)-N was verified in an anaerobic *** NO_(3)^(−)-N reduction ability of M3-1 and denitrifying bacteria in coupling system was investigated under different C/N conditions,and it was found that M3-1 used carbon sources preferentially over denitrifying *** adjusting the ratio of NH4+-N to NO_(2)^(−)-N,it was found that the NO_(2)^(−)-N con-verted from NO_(3)^(−)-N by M3-1 participated in the original *** nitrogen removal efficacy(NRE)of the coupled system was increased by 12.1%,compared to the control group anammox system at C/N=2:*** gene indicated that itmight be a nitrate reducing *** study shows that the nitrate reduction rate achieved by the Bacillus velezensis M3-1 can be high enough for removing nitrate produced by anammox process,which would enable improve nitrogen removal from wastewater.

关键词： Bacillus velezensis M3-1 Anammox Denitrifying bacteria C/N Nitrogen removal efficacy Functional gene abundance

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：