Motion control of underactuated linkage robot based on gymnastic skill

In this paper, a reproduction of a swing‐up and a giant swing motion of underactuated robots based on technique of the horizontal bar gymnast is discussed with focusing on an equivalent center of mass (ECM) of underactuated robots and the gymnast. At first, the behaviors of the ECM of the gymnast (ECMG) are analyzed by using a motion capturing technique and an efficient motion of the ECMG for the swing‐up and for the giant swing motion are identified from analysis results, respectively. Next, a partial linearization method, which can realize that the ECM of the Acrobot (ECMA) replicates this efficient motion, is designed and reproduces the underactuated robots the swing‐up and giant swing motion like the gymnast. Finally, an effectiveness of the proposed controller is shown by numerical simulations.     

Adaptive finite‐time formation tracking control for multiple nonholonomic UAV system with uncertainties and quantized input

An adaptive finite‐time formation tracking control approach is proposed for multiple unmanned aerial vehicle (UAV) system with quantized input signals in this paper. The UAVs are described by nonholonomic kinematic model and autopilot model with uncertainties. An enhanced hysteretic quantizer is introduced to avoid chattering, and some restrictions are released by using a new quantization decomposition method. Based on backstepping technique and finite‐time Lyapunov stability theory, the adaptive finite‐time controller is designed for the trajectory tracking of the multi‐UAV formation. The nonholonomic constraints are solved by a transverse function. A transformation is introduced to the control input signals to eliminate the quantization effect. Stability analysis proves that the tracking errors can converge to a small neighborhood of the origin within finite time and all the closed‐loop signals are semiglobally finite‐time bounded. The effectiveness of the proposed control approach is validated by simulation and experiment.     

基于改进雷达图的配电系统电能质量评估方法

本文针对配电系统电能质量综合评估存在的评估指标权重分配过于主观或客观的问题,提出一种基于改进雷达图法的配电系统电能质量评估方法。该方法利用最小偏差组合权重法计算各评估指标的最优组合权重。并在传统雷达图的基础上对各指标轴间夹角值的确定和特征向量的选取两方面做了进一步的改进。首先采用扇形区域取代原始的三角形区域,并利用最小偏差组合权重法计算各指标轴间夹角值。其次选择新的特征向量构造评估函数对配电系统电能质量进行综合评估。最后通过对某钢铁厂棒材变电站10kV配电系统电能质量进行综合评估,验证了该方法的可行性和合理性。较传统雷达图而言,改进雷达图法解决了传统雷达图法中各指标间信息共用以及评估结果不唯一的问题,使评估结果更加准确合理。     

数字花卉植物的全息可视化与交互实现

花卉植物形态、结构与生长过程的数字化和可视化是现代林业科研的重要研究内 容，数字花卉植物在科普、教育、展示等方面都有着广泛的应用与需求。全息影像技术是一种 新兴的前沿技术，其原理源自佩珀尔幻象，通常用于生成立体感强的影像，实现数字幻象与真 实世界的融合，拥有良好的观赏性，用户接受度较高。将全息影像技术与数字花卉植物相关研 究进行结合，可以加强数字花卉植物的可视化效果，从而实现更好的科普、教育、展示效果。 因此在现有的研究基础之上，考虑实现数字花卉植物的全息可视化，并在可视基础上增加了用 户交互实现，设计出一套兼具展示性和交互性的流程，力求总结出一种具有完整可行性的方案， 从而对数字花卉植物的新型表现形式进行深入研究，以期对数字植物研究与应用的进一步发展 提供参考。     

Challenges and new methods for designing reliability experiments

Abstract

Engineers use reliability experiments to determine the factors that drive product reliability, build robust products, and predict reliability under use conditions. This article uses recent testing of a howitzer to illustrate the challenges in designing reliability experiments for complex, repairable systems. We review research in complex system reliability models, failure-time experiments, and experimental design principles. We highlight the need for reliability experiments that account for various intended uses and environments. We leverage lessons learned from current research and propose methods for designing an experiment for a complex, repairable system.     

Advanced Friction–Wear Behavior of Organic Brake Pads Using a Newly Developed System

The objective of this study was to investigate the influence of an advanced performance system on the tribological behavior of brake pad material using a specially designed brake pad tester system following standard SAE J-661. The tribological behavior and friction and wear characteristics of the organic brake pad samples were evaluated. During braking tests, the samples, in contact with a cast iron disk, were studied at different disc speeds, temperatures, and braking cycles under a constant pressure. In order to understand the friction and wear behavior, the unworn surfaces, worn surfaces, and wear debris were characterized by means of scanning electron microscopy (SEM) and energy-dispersive X-ray (EDX). Furthermore, the surface characteristics and differences in the wear modes of the brake pad samples were examined. Wear debris was permitted to deform the brake pad surfaces, leading to friction layers and enabling the estimation of the friction behavior of the brake pads. The results showed that the best friction–wear behavior was obtained with lower braking cycles at low speeds and temperature. Thus, the newly developed brake pad tester system proved very effective in evaluating the performance of the brake pad samples.     

冶金矿物和产品水分测定问题探讨

水分测定是冶金行业中矿产原料和产品分析的重要内容,主要包括交货水分、湿存水、化合水等测定类别。尽管水分测定方法本身相对简单,但其涉及到矿物原料、产品结算交割以及其他化学分析的校正计算,属于重要的基础性测定方法。各类矿物、产品几乎都有相应水分测定的国家标准、行业标准,部分还是从国外ISO标准体系中采标而来。文章系统介绍并比较各类矿物原料、产品中交货水分、明水、湿存水、化合水等类别的测定方法。由于ISO标准体系中湿存水含义和国内标准体系湿存水含义有较大差异,其测定操作和用途也有不同,使用空气平衡样品和密封原始样品将会得到数据差异较大的湿存水数据,两种湿存水含义需要明确区分。湿存水对化学称样量、灼减量、化合水的测定有影响,需要用湿存水进行水分校正,才能得到更精确的结果。     

矿区铁路车站信号联锁系统核心设备换型升级关键技术研究

传统的信号联锁系统改造采用室内设备全部更换的方式,投资预算较高。为确保铁路运输安全,维护铁路生产运输秩序,提高信号设备的安全性,同时为减轻现场技术人员管控压力,研究应用新的技术方法,仅对室内信号联锁系统核心设备进行换型升级,室内相关配套设备不做更换,同样能够达到技术改造的效果,满足技术指标需求,同时可以节约大量资金投入。因此,本文针对上述问题开展信号联锁系统核心设备换型升级关键技术研究并在矿区铁路跃进河车站应用,效果显著。     

Environmental and energy life cycle analyses of passenger vehicle systems using fossil fuel-derived hydrogen

Hydrogen energy utilization is expected due to its environmental and energy efficiencies. However, many issues remain to be solved in the social implementation of hydrogen energy through water electrolysis. This analyzes and compares the energy consumption and GHG emissions of fossil fuel-derived hydrogen and gasoline energy systems over their entire life cycle. The results demonstrate that for similar vehicle weights, the hydrogen energy system consumes 1.8 MJ/km less energy and emits 0.15 kg-CO 2 eq./km fewer GHG emissions than those of the gasoline energy system. Hydrogen derived from fossil fuels may contribute to future energy systems due to its stable energy supply and economic efficiency. Lowering the power source carbon content also improved the environmental and energy efficiencies of hydrogen energy derived from fossil fuels.     

Study of MW-scale biogas-fed SOFC-WGS-TSA-PEMFC hybrid power technology as distributed energy system: Thermodynamic,exergetic and thermo-economic evaluation

Advanced biogas power generation technology has been attracting attentions, which contributes to the waste disposal and the mitigation of greenhouse gas emissions. This work proposes and models a novel biogas-fed hybrid power generation system consisting of solid oxide fuel cell, water gas shift reaction, thermal swing adsorption and proton exchange membrane fuel cell (SOFC-WGS-TSA-PEMFC). The thermodynamic, exergetic, and thermo-economic analyses of this hybrid system for power generation were conducted to comprehensively evaluate its performance. It was found that the novel biogas-fed hybrid system has a gross energy conversion efficiency of 68.63% and exergy efficiency of 65.36%, indicating high efficiency for this kind of hybrid power technology. The market sensitivity analysis showed that the hybrid system also has a low sensitivity to market price fluctuation. Under the current subsidy level for the distributed biogas power plant, the levelized cost of energy can be lowered to 0.02942 $/kWh for a 1 MW scale system. Accordingly, the payback period and annual return on investment can reach 1.4 year and about 20%, respectively. These results reveal that the proposed hybrid system is promising and economically feasible as a distributed power plant, especially for the small power scale (no more than 2 MW).