Adaptive constraint control for flexible manipulator systems modeled by partial differential equations with dead-zone input

In this article, based on partial differential equations (PDEs), the flexible manipulator system with both dead-zone input and state constraints is studied. The dynamic model of the flexible manipulator system is described by PDEs. The parameters of the dead-zone input are unknown, and the state constraint problem is also considered. An adaptive approach is proposed to offset the effects caused by dead-zone input. Thus, to guarantee that all states remain within their respective constraint regions, the boundary control law based on the barrier Lyapunov function is given, and an adaptive controller is designed. According to the Lyapunov analysis method, the control method is given to ensure that all signals of the closed-loop system are bounded and all states satisfy the constraint conditions. Finally, simulation results show the effectiveness of the proposed control method in this article.     

Extended-state-observer-based dynamic surface control of flexible-joint robot systems with input saturation

This article presents an extended-state-observer-based dynamic surface control approach for flexible-joint robot systems with asymmetric input saturation and large unknown dynamic knowledge. Traditional controllers for flexible-joint robot systems usually use approximation technology to deal with unknown dynamics knowledge. Unlike the traditional control algorithm, this article utilizes an extended state observer to estimate the unknown dynamics. For the closed-loop system, the delay strategy handles the time-scale separation issue, the filtering system overcomes the “explosion of differentiation” caused by the repeated differentiation of auxiliary control signals, and the mean-value-theorem solves the input saturation problem of the actuator. The stability analysis implies that estimation errors of extended state observers (ESOs) and other state variables are semiglobally uniformly ultimately bounded. Compared with fuzzy control algorithms, the novel ESO-based dynamic surface control approach not only omits online learning time but also uses only a few control parameters to obtain satisfactory tracking performance. Finally, a comparison simulation experiment is provided to illustrate the effectiveness of the gained conclusions.     

Comparison of γ-aminobutyric acid accumulation capability in different mung bean (Vigna radiata L.) varieties under heat and relative humidity treatment,and its correlation with endogenous amino acids and polyamines

In this study, the accumulation of GABA and its inherent factors across different varieties of mung bean (Vigna radiata L.) in response to heat and relative humidity (HRH) were investigated. Results showed the average GABA content in mung bean varieties was increased 7.52 times following HRH treatment, and the black mung bean variety (A8) exhibited the highest GABA accumulation capability (1.76–84.57 mg per 100 g DW). From the perspective of GABA shunt metabolites, the free glutamic acid content of mung beans significantly decreased (P < 0.05) after HRH treatment and presented a significant correlation (P < 0.05) with GABA content. In polyamine degradation pathway, although the average levels of spermine and spermidine of mung bean varieties significantly decreased (P < 0.05) after HRH treatment, no significant correlation with GABA content was identified. Hence, the GABA accumulation was predominantly attributed to GABA shunt. Besides, free amino acids including glutamic acid, serine, ornithine, arginine and glycine in mung beans showed a significant positive correlation (P < 0.05) with GABA content and increment following HRH treatment, which suggested that mung beans enriched in these free amino acids might accumulate higher amounts of GABA after HRH treatment and be useful for industrial applications.     

A waste heat recovery system development and analysis using ORC for the energy efficiency improvement in aluminium electrolysis cells

The present work investigates an active waste heat recovery system for the side walls of the aluminium electrolysis cells, enabling utilization of the extracted heat in power generation. This will potentially lead to energy efficiency improvement in the primary aluminium production industry and an enhanced aluminium production rate. An experimentally validated loop thermosyphon heat pipe model was used for heat extraction from the cell side wall. Boosting system thermal efficiency through waste heat recovery, by means of a heat utilization system, and increasing the level of control, as well as thermal equilibrium, stand as the main addressed objectives of the current study, which consequently result in an increased aluminium production rate. An organic Rankine cycle is incorporated into the system, and its performance is evaluated, taking into consideration the operating situations in terms of available temperature and thermal power range.     

Inverse identification of constitutive parameters from heat source fields: A local approach applied to hyperelasticity

In this paper, a new inverse identification method of constitutive parameters is developed from full kinematic and thermal field measurements. It consists in reconstructing the heat source field from two different approaches by using the heat diffusion equation. The first one requires the temperature field measurement and the value of the thermophysical parameters. The second one is based on the kinematic field measurement and the choice of a thermo-hyperelastic model that contains the parameters to be identified. The identification is carried out at the local scale, ie, at any point of the heat source field, without using the boundary conditions. In the present work, the method is applied to the challenging case of hyperelasticity from a heterogeneous test. Due to large deformations undergone by the rubber specimen tested, a motion compensation technique is developed to plot the kinematic and the thermal fields at the same points before reconstructing the heterogeneous heat source field. In the present case, the constitutive parameter of the Neo-Hookean model has been identified, and its distribution has been characterized with respect to the strain state at the surface of a cross-shaped specimen.     

生物氧化预处理中进气量实时预测数学模型研究

精准预测生物氧化预处理中的进气量对提高黄金提取率和节能降耗具有重要意义。以气体管流连续性方程和运动方程为控制方程，采用Preissmann隐格式法作为差分方法。同时，根据集合卡尔曼滤波(Ensemble Kalman filter，EnKF)算法原理，构造进气量、压强的状态空间模型。结果表明，基于气体管流控制方程建立的进气量模型预测结果与实际进气量观测值具有较好的一致性；与传统静态预测方法相比，EnKF同化方法引入实时观测值和模型参数的更新，有效提高了进气量的预测精度，其平均绝对误差、平均相对误差和均方根误差有明显的降低。可见，基于气体管流控制方程建立的预测模型结合EnKF同化方法是提高生物氧化槽进气量预测精度的有效手段。     

不同润湿表面液体沸腾的分子动力学模拟

采用分子动力学方法研究纳米尺度下液氩在过热基板上的沸腾过程。通过调节固液间相互作用的方式改变壁面润湿性，模拟并分析了壁面润湿性对沸腾过程中能量传递和液体运动情况的影响。结果表明：不同润湿性表面均会发生固液分离的现象，但是固体表面附近吸附的氩原子数密度随润湿性增强而增大；润湿性较强时，液体的能量上升快，热通量高，液体内部温度梯度大，发生固液分离时间早，系统中氩的温度和能量低，上升过程中液氩密度、厚度变化小；润湿性较弱时，液体的能量上升慢，热通量小，液体内部温度梯度小，发生固液分离时间延后，系统中氩的温度、能量更高，上升过程中液氩密度、厚度变化较大。下部气体压力整体上大于上部气体压力，发生固液分离时润湿性越强的表面上液体上下压差越大，首次上升过程能达到的高度越高，所需时间越短。     

晶体锗切削温度场的理论建模及数值模拟

针对晶体锗切削加工过程,首先采用热源法及温度叠加原理建立了切削温度场的理论数学模型。然后运用MATLAB软件分别计算出切削速度分别为1.5、2.0、2.5m/s,进给量分别为0.02、0.025mm/r时工件在剪切变形区的温度场,分析了不同切削速度、不同进给量下的温度变化。最后,采用DEFORM-3D软件进行三维切削仿真分析,获得了不同切削参数下工件温度场的云图。计算结果与仿真结果表明:切削速度与进给量的增大会导致切削温度的升高,刀具与工件开始接触时,切削温度、进给量与时间呈线性急剧增加,但温度升高到一定值后会保持相对稳定。相同增量下,进给量对切削温度的影响大于切削速度。不同切削速度和进给量下的仿真结果与理论计算结果误差均小于10%。     

Soret and Dufour effects between two rectangular plane walls with heat source/sink

This study addresses the thermo‐diffusion and the diffusion‐thermo phenomena in a semi‐infinite absorbent channel whose walls are contracting/expanding, with heat source/sink effects. The governing partial differential equations with suitable boundary conditions are transformed to a system of dimensionless ordinary differential equations. An analytic solution of the problem has been found using a technique called homotopy analysis method (HAM). HAM gives consistently valid answers to the problem over an extensive variety of parameters and also provides better accuracy. To validate the analytical results, a comparison has been presented with a numerical solution calculated by using the parallel shooting method. The effects of dimensionless parameters, that is, deformation parameter, Reynolds number, Soret and Dufour numbers, and heat source/sink parameter on the expressions of velocity, temperature, and concentration profiles are analyzed graphically to understand the physics of the deformable channel. It has been noted that the velocity across the channel is higher for the expanding channel, as compared to that for the contracting channel. Also the Soret and Dufour number increases the temperature of the fluid, and decreases the concentration. The temperature profile has an increasing behavior in the case of heat source, and a decreasing behavior in the case of heat sink.