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International Conference of Electrical, Electronic and Networked Energy systems, EENES 2024

作者： Zhou, Jialong Song, Kai Jiang, Jinhai Fan, Fulin Dong, Zhen Zhang, Jingran Chen, Zhengjian School of Electrical Engineering and Automation Harbin Institute of Technology Harbin150001 China Suzhou Research Institute Harbin Institute of Technology Suzhou215104 China State Key Laboratory of Hydro-Power Equipment Harbin150001 China Suzhou Suyu Technology Co. Ltd Suzhou215200 China Shenzhen Energy Group Company Ltd Shenzhen518000 China

ISBN: (纸本)9789819618637

Fuel cells exhibit high energy conversion efficiencies and do not have polluting by-products, thus having widespread applications in recent years. Due to the complexity of system operating conditions and sensitivity to parameters, the state monitoring of fuel cell systems has become a significant research focus. Electrochemical impedance spectroscopy (EIS) is a method used for the impedance analysis of fuel cells. By mapping the impedance spectrum, it allows for the monitoring of fuel cell status and the identification of internal faults. Traditional EIS detection techniques require an additional external excitation signal source, making real-time detection difficult. To avoid the use of additional equipment for the real-time monitoring of proton exchange membrane fuel cells (PEMFCs), this paper proposes a real-time EIS detection method based on based on the load voltage detection of a DC/DC circuit. By superimposing triangular waves of different frequencies with the reference voltage to introduce excitation, the output voltage and current of a PEMFC are measured and then processed through fast Fourier transform. The resulting amplitudes and phases at each frequency are translated into the corresponding internal impedance, forming the EIS. The simulation results show a good consistency with theoretical calculation and verify the accuracy and feasibility of the proposed method. © Beijing Paike Culture Commu. Co., Ltd. 2025.

关键词： Proton exchange membrane fuel cells (PEMFC)

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A Wave Energy Harvester With Vertical Pendulum And Mag-Boost Mechanism

A Wave Energy Harvester With Vertical Pendulum And Mag-Boost...

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Micro and Nanotechnology for Power Generation and Energy Conversion Applications (PowerMEMS)

作者： Tianyi Tang Yunfei Li Heng Zhao Lining Sun Huicong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin CHINA School of Mechanical and Electrical Engineering Jiangsu Provincial Key Laboratory of Advanced Robotics Soochow University Suzhou CHINA

ISBN: (数字)9798350380200

ISBN: (纸本)9798350380217

This paper presents an ultra-low-frequency and high-power wave energy harvester (WEH). It utilizes a vertical pendulum structure to achieve motion response to ultra-low-frequency wave excitation and then converts the mechanical energy of the pendulum into high-frequency and high-power electrical energy output through the MagBoost Mechanism. The design of WEH ensures stable output even under excitation conditions below 1 Hz. At the excitation frequency of 1.4 Hz and resistance load of $20 \Omega$, the maximum power output can reach 1.16 W with a power density of $0.54 \mathrm{~mW} / \mathrm{cm}^{3}$. The high energy density allows stable power supplementation for ocean observation buoy within a limited volume, thereby enabling long-term, unattended operation of the buoy in remote offshore areas.

关键词： Resistance Power system measurements Density measurement Oceans Frequency conversion Sensor systems Sensors Mechanical energy Wave energy conversion Power generation

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A New Noise-Tolerant Dual-Neural-Network Scheme for Robust Kinematic Control of Robotic Arms With Unknown Models

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IEEE/CAA Journal of Automatica Sinica 2022年第10期9卷 1778-1791页

作者： Ning Tan Peng Yu Zhiyan Zhong Fenglei Ni IEEE the School of Computer Science and Engineering&Key Laboratory of Machine Intelligence and Advanced Computing Ministry of EducationSun Yat-sen UniversityGuangzhou 510006China the School of Automation Guangdong Polytechnic Normal UniversityGuangzhou 510665China the State Key Laboratory of Robotics and Systems Harbin Institute of Technology(HIT)Harbin 150080China

Taking advantage of their inherent dexterity,robotic arms are competent in completing many tasks *** a result of the modeling complexity and kinematic uncertainty of robotic arms,model-free control paradigm has been proposed and investigated ***,robust model-free control of robotic arms in the presence of noise interference remains a problem worth *** this paper,we first propose a new kind of zeroing neural network(ZNN),i.e.,integration-enhanced noise-tolerant ZNN(IENT-ZNN)with integration-enhanced noisetolerant ***,a unified dual IENT-ZNN scheme based on the proposed IENT-ZNN is presented for the kinematic control problem of both rigid-link and continuum robotic arms,which improves the performance of robotic arms with the disturbance of noise,without knowing the structural parameters of the robotic *** finite-time convergence and robustness of the proposed control scheme are proven by theoretical ***,simulation studies and experimental demonstrations verify that the proposed control scheme is feasible in the kinematic control of different robotic arms and can achieve better results in terms of accuracy and robustness.

关键词： Dual zeroing neural networks(ZNN) finite-time convergence model-free robot control robustness analysis

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Design and motion performance of new inspection robot for steam generator heat transfer tubes

Design and motion performance of new inspection robot for st...

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2021 IEEE International Conference on Real-Time Computing and robotics, RCAR 2021

作者： Xu, Biying Li, Ge Xing, Zhenming Cai, Hegao Zhao, Jie Fan, Jizhuang Harbin Institute of Technology State Key Laboratory of Robotics and System Heilongjiang Province Harbin China

ISBN: (纸本)9781665436786

The reliability of the Steam Generator is a key factor affecting the overall efficiency and safety of nuclear power plant reactors. Under the influence of nuclear radiation, remote control robots are currently used for Steam Generator heat transfer tubes inspection. In this paper, a new inspection robot is designed with better structure and higher working efficiency. Structural modeling and kinematic analysis are carried out. A modular control system is designed and applied for system integration. To verify the practicality of the robot, tube sheet motion experiments and performance analysis are undertaken. It results that the proposed inspection robot efficiently moves on the tube sheet and has excellent motion performance. © 2021 IEEE.

关键词： Steam generators

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Study on the Shock Resistance of Double-Layer Vibration Isolation system for Ship Power Equipment

Study on the Shock Resistance of Double-Layer Vibration Isol...

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China Instrument and Control Society (ACCIS), Academic Conference of

作者： Zhongyi Cheng Junning Cui Xinbin Zhang Yizhong Zhuang Bo Kang Yamin Zhao Center of Ultra-precision Optoelectronic Instrument Engineering Harbin Institute of Technology Harbin China Key Lab of Ultra-precision Intelligent Instrumentation Harbin Institute of Technology (Harbin Institute of Technology) Ministry of Industry and Information Technology Harbin China Laboratory for Space Environment and Physical Sciences Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9798350350326

ISBN: (纸本)9798350350333

Given the problem that the influences of different vibration isolation parameters on the dynamic characteristics of isolated equipment in the double-layer vibration isolation system of ship power equipment is still unclear, a double-layer vibration isolation model for ship power equipment is established to study the time-domain response characteristics of the isolated equipment under the action of a half-sine wave shock. The dimensionless differential equations of system motion are derived using dimensional analysis, and the numerical simulation based on the fourth-order Runge-Kutta method is used to analyze the influences of vibration isolation parameters on shock resistance performance of the system, which provides a theoretical basis for the shock resistance design of the double-layer vibration isolation system of ship power equipment and is of significant instruction to the practice.

关键词： Vibrations Resistance Damping Isolators Electric shock Numerical simulation Shock absorbers Numerical models Marine vehicles Time-domain analysis

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RGBD Navigation: A 2D navigation framework for visual SLAM with pose compensation

RGBD Navigation: A 2D navigation framework for visual SLAM w...

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IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Teng Zhang Pengfei Wang Fusheng Zha Wei Guo Mantian Li The State Key Laboratory of Robotics Harbin Institute of Technology Harbin China

The breakthrough in SLAM(Simultaneous Localization and Mapping) technology has greatly driven the development of robot navigation. Currently, LiDAR navigation based on the development of LiDAR SLAM and ROS navigation stack is very mature. However, due to the inability of open-source vSLAM(visual Simultaneous Localization and Mapping) and VO(Visual Odometry) to establish dense maps suitable for navigation, poor adaptability of visual information to ROS navigation stack, and map positioning problems caused by sensor characteristics, the development of visual navigation faces difficulties. To address the above three issues, this work provides a framework called RGBD Navigation, which utilizes RGBD sensors to achieve vision-based navigation for robots. This framework establishes a dense point cloud map based on the pose information provided by vSLAM/VO, depth images and RGB images, and converts it into a 2D occupancy grid map. And, convert the depth image into two-dimensional laserscan information. Finally, establish a "map-to-odom" positioning node based on the pose provided by SLAM/VO to achieve robot positioning on the map. This framework solves the three main problems of visual sensor adaptation to the ROS Navigation stack, and achieves the establishment of a vision-based 2D navigation system.

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Effect of filament winding process parameters on interlaminar performance for CF/PP thermoplastic composite 4

Effect of filament winding process parameters on interlamina...

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4th International Conference on Graphene and Novel Nanomaterials, GNN 2022

作者： Chang, C. Geng, H.B. Feng, Y. Han, Z.Y. Sun, S.Z. State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Inner Mongolia Aerospace Honggang Machinery Corporation Limited Hohhot010020 China Wuhu Robot Technology Research Institute Harbin Institute of Technology Wuhu241000 China

This paper focuses on the in-situ consolidation process of thermoplastic composites by winding, aiming to explore the influence of key process parameters on samples' quality. During the consolidation of thermoplastic composites, they need to go through resin melting-bonding-consolidation process, in which each parameter affects the interlaminar bond strength. Through preliminary simulation and experiments, the process parameters were selected. In this paper, wound NOL ring samples made of carbon fiber reinforced polypropylene thermoplastic composite prepregs were obtained with a hot gas assisted filament winding equipment. The influence rule of winding temperature, winding tension and winding speed on the interlaminar shear strength were analyzed based on response surface methodology. Through the analysis, in the range of the experiments winding tension and temperature had more effect on the shear strength while speed's influence was small. With the increase of tension and temperature, the interlaminar shear strength increased, but after reaching a certain value, the laminar shear strength decreased instead. © Published under licence by IOP Publishing Ltd.

关键词： Filament winding

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Analysis of axial windage loss in air gap of high-speed motors under high Taylor number 8

Analysis of axial windage loss in air gap of high-speed moto...

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8th International Symposium on Hydrogen Energy, Renewable Energy and Materials, HEREM 2022

作者： Song, Yuchen Cao, Jiwei Zhong, Chengbao Chen, Jialiang Li, Liyi Department of Electrical Engineering Harbin Institute of Technology Harbin150001 China Guangdong Provincial Key Laboratory of High-Performance Servo System Zhuhai519070 China

In the field of ultra-high-speed motors, windage loss rises rapidly with the increase of rotational speed, and even becomes the main part of motor loss. However, most researches of windage loss are based on empirical formulas, which has a narrow scope of application. These formulas could not guarantee the accuracy when calculating large Taylor number flow in high-speed motor air gap, especially under axial ventilation condition. This paper focuses on the interaction between Taylor vortices and axial flow, analyses the influence of Taylor number on the behaviour of Taylor vortices and windage loss under non-axial and axial ventilation. First, another form of friction coefficient related to rotation speed is proposed using dimension analysis. Second, the scale of Taylor vortices is estimated and how it affects windage loss is discussed. Finally, a deceleration experiment taking a 250krpm induction motor is used to verify the accuracy of the proposed windage loss model. © 2023 institute of Physics Publishing. All rights reserved.

关键词： Friction

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Wastewater treatment meets artificial photosynthesis:Solar to green fuel production,water remediation and carbon emission reduction

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Frontiers of Environmental Science & Engineering 2022年第4期16卷 157-160页

作者： Zhida Li Lu Lu State Key Laboratory of Urban Water Resource and Environment School of Civil and Environmental EngineeringHarbin Institute of TechnologyShenzhen 518055China

Current wastewater treatment(WWT)is energy-intensive and leads to vast CO_(2) *** pledge of“double carbon”target encourages a paradigm shift from fossil fiiels use to renewable energy harvesting during *** this context,hybrid microbial photoelectrochemical(MPEC)system integrating microbial electrochemical WWT with artificial photosynthesis(APS)emerges as a promising approach to tackle water-energy-carbon challenges ***,we emphasized the significance to implement energy recovery during WWT for achieving the carbon neutrality ***,we elucidated the working principle of MPEC and its advantages compared with conventional APS,and discussed its potential in fulfilling energy self-sustaining WWT,carbon capture and solar fuel ***,we provided a strategy to judge the carbon profit by analysis of energy and carbon fluxes in a MPEC using several common organics in ***,MPEC provides an alternative of WWT approach to assist carbon-neutral goal,and simultaneously achieves solar harvesting,conversion and storage.

关键词： Wastewater treatment Artificial photosynthesis Microbial photoelectrochemical(MPEC)system Carbon neutral Renewable energy

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Design and Control for WLR-3P:A Hydraulic Wheel-Legged Robot

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Cyborg and Bionic systems 2023年第1期4卷 243-259页

作者： Xu Li Haoyang Yu Haibo Feng Songyuan Zhang Yili Fu State Key Laboratory of Robotics and System College of Mechatronics EngineeringHarbin Institute of TechnologyHarbin 150001China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou 310027China Intelligent Robot Research Center Zhejiang LaboratoryHangzhou 311100China

The robot used for disaster rescue or field exploration requires the ability of fast moving on flat road and adaptability on complex *** hybrid wheel-legged robot(WLR-3P,prototype of the third-generation hydraulic wheel-legged robot)has the characteristics of fast and efficient mobility on flat surfaces and high environmental adaptability on rough *** this paper,3 design requirements are proposed to improve the mobility and environmental adaptability of the *** meet these 3 requirements,2 design principles for each requirement are put ***,for light weight and low inertia with high stiffness,3-dimensional printing technology and lightweight material are ***,the integrated hydraulically driven unit is used for high power density and fast response ***,the microhydraulic power unit achieves power autonomy,adopting the hoseless design to strengthen the reliability of the hydraulic *** is more,the control system including hierarchical distributed electrical system and control strategy is *** mobility and adaptability of WLR-3P are demonstrated with a series of ***,the robot can achieve a speed of 13.6 km/h and a jumping height of 0.2 m.

关键词： robot Robot terrain

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