A 6-DOF humanoid wall-climbing robot with flexible adsorption feet based on negative pressure suction

A wide range of dangerous and special tasks have witnessed the applications of wall-climbing robots, but they still cannot adapt well torough or sloping walls. This paper proposes a 6-DOF (degree of freedom) humanoid wall-climbing robot (HWCR) based on the principle of negative pressure suction. HWCR has the advantages of flexible adsorption feet, strong adaptability, strong anti-subversion performance, and high friction to the wall. We deduce mechanics formulas and carry out a parametric design of the foot structure so that it can meet the requirement of robot wall climbing. We use Fluent to analyze the flow field of the adsorption foot and determine the motor speed that can provide a reliable adsorption force. Using the D-H matrix to plan gait, we also design a compound cycloid-based foot trajectory to reduce the impact between the HWCR and the wall. Experiments on the uneven wall and sloping wall show that the vehicle can walk with an ideal gait, and the resistance value of the servo on each joint is much lower than the critical value, which ensures the smooth movement of the HWCR.     

一种用于电气设备状态监测的新式FBG传感器北大核心CSCD

为了监测绕组变压器的静态应力场和发生短路等故障时的动态应力变化,设计了一种用于电气设备状态监测的新式FBG传感器。该传感器由聚醚醚酮材料封装的FBG构成,通过内部圆锥形空腔结构实现将轴向应力集中于FBG敏感位置。通过仿真对不同压力强度下传感器结构的应力场部分及形变趋势进行了计算与分析,论证了设计的合理性。实验分别对静态载荷和动态冲击进行测试,结果显示,在静态压载测试中,当100 N相似文献   

Techno-economic assessment of hydrogen refueling station: A case study in Croatia

Hydrogen refueling station (HRS) capacity and location depend on the users, which makes it difficult to select the most favorable option before potential users are actually identified. As in Croatia, at least for now, there are no hydrogen users, this study considers a wide range of HRS capacities and their different configurations. These include hydrogen production and charging station within one existing wind farm in Croatia or both nearby the users, the hydrogen production within the wind farm and the charging station nearby the users, while hydrogen is delivered to the station with a tube trailer, and configuration of hydrogen production within the wind farm with a mobile charging station in case of several users in different locations. Each HRS configuration is evaluated by the obtained levelized cost of hydrogen depending on the capital, and operation and maintenance costs within the HRS techno-economic analysis provided.     

Anchor plate bearing capacity in flexible mesh facings

This work addresses the problem of the loading capacity of an anchor plate coupled with a steel wire mesh in soil retaining applications. The interaction mechanism between the flexible mesh facing, the underlying soil layer and the plate is studied starting from the results of several laboratory punch tests involving both the plate and the mesh only, and the whole soil-mesh-plate system. The experimental tests have been reproduced by adopting a 3D discrete element model where also the wire mesh is discretized as an assembly of interconnected nodal particles. The interaction between these particles is ruled by elasto-plastic tensile force–displacement laws in which a distortion is introduced in a stochastic manner to account for the wires’ geometrical irregularities. The mesh model is then validated with reference to a set of punch tests in which the shape and size of the punching element as well as the nominal wire diameter were varied. Subsequently, the model is extended to a punch against soil test configuration permitting an insight into the nontrivial local mechanism between the mesh facing and the underlying granular layer. The good agreement between the numerical predictions and the experimental observations at the laboratory scale allowed us to extend the model towards more realistic field conditions for which the role of the mesh panel boundary conditions, the mesh mechanical properties, the soil mechanical properties and the anchor plate geometry is investigated.     

Evaluation of back-calculated elastic moduli of unreinforced and geocell-reinforced unbound granular material from full-scale field tests

This paper presents a field-scale experimental track over a poor subgrade with an unreinforced section and a geocell-reinforced section subjected to in-situ performance tests. Plate load tests and Benkelman beam tests were carried out distributed in several unreinforced and reinforced layers. The objective was to: (1) examine the variability of the elastic modulus of unbound granular material (UGM) due the influence of its thickness and the presence of poor subgrade in its base, (2) evaluate the modulus improvement factor (MIF) generated by the geocell reinforcement in the UGM and (3) verify the most appropriate condition to apply the MIF to transport infrastructure design. The results showed that there is a significant influence of the thickness of the UGM layer on its elastic modulus when the layer is supported directly over a soft subgrade. The MIF values obtained in field suggest that its determination is mostly related to the UGM maximum elastic modulus rather than its decreased values (by virtue of poor subgrade or reduced thicknesses), and that the analytical formulation presented for MIF calculation has good predictive capability to be applied to pavement design.     

Finite element limit analysis of load-bearing performance of reinforced slopes using a non-associated flow rule

This paper presents a numerical study on the load-bearing performance of reinforced slopes under footing load using a finite element limit analysis (FELA) method where a non-associated flow rule is assumed in the analysis. The method was validated against results from full-scale model tests and a limit equilibrium (LE) analytical method. A series of parametric analyses was subsequently carried out to examine the influences that the soil dilation angle, footing location, and reinforcement design (i.e. length, tensile strength, and vertical spacing) could have on the load-bearing performance of reinforced slopes. Results indicate that dilation angle has a significant influence on the predicted magnitudes of bearing capacity, slope deformation, and mobilized reinforcement load. The predicted values of bearing capacity using the FELA are smaller than those from the Meyerhof's analytical method for unreinforced semi-infinite foundation, especially for larger friction angle values. Additionally, the ultimate bearing capacity of the slope and its corresponding horizontal deformation increase with the reinforcement tensile strength. Finally, the slip planes under the applied footing load are found to be y-shaped and primarily occur in the upper half of the slope.     

Concentration dependence of physical properties of low temperature processed ZnO quantum dots thin films on polyethylene terephthalate as potential electron transport material for perovskite solar cell

Colloidal Zinc oxide quantum dots (ZnO QDs) prepared with varying concentrations through precipitation method were deposited on flexible ITO/PET substrates using spin-coating technique. Various characterization tools were utilized to investigate the morphological, structural, electrical and optical properties of the films. The crystallinity of the films was found to improve with increasing ZnO QD concentration (ZQ_C) as evident from the X-ray diffraction (XRD) and field emission scanning electron microscopy (FE-SEM) studies. Crystallographic and optical parameters were evaluated and explained in depth. The average nanograin size and bandgap were increased and decreased respectively, from ～5 nm to ～8 nm and 3.29 eV–3.24 eV with an increase in ZQ_C from 10 mg/mL to 70 mg/mL. Columnar structure growth of the films is revealed by AFM results. The films showed decent optical transparency up to 81%. All the ZnO films exhibited n-type semiconducting property as indicated by the electrical measurements with carrier mobility and low resistivity of 12.21–26.63 cm²/Vs and 11.84 × 10^?3 to 13.16 × 10^?3 Ω cm respectively. Based on the experimental findings, ZnO QD nanostructure film grown at 50 mg/mL is envisaged to be a potential candidate for flexible perovskite photovoltaic application.     

Generation,validation and application of dynamic load profiles in flow measurement using cavitating Herschel–Venturi nozzles

Today, utility meters for water are tested for measurement behavior at stable operating conditions at specified flow rates as part of the approval process. The measurement error that occurs during start and stop or when changing between flow rates may not be taken into account. In addition, there are new technologies whose measuring behavior under real-world conditions is only known to a limited extend. To take these facts into account, a new method has been developed and tested to determine the measurement behavior of water meters under dynamic load profiles as they occur in the real application. For this purpose, a test rig for flow rate measurement was extended by a cavitation nozzle apparatus and the generation of dynamic load profiles was validated. For the cavitation nozzles used, possible factors influencing the flow rate, such as temperature and purity of the water as well as the upstream pressure were investigated. Using different types of domestic water meters, the applicability of the dynamic test procedure was demonstrated and the measurement behavior of the meters was characterised.     

Simulations of NBI fast ion loss in the presence of toroidal field ripple on EAST

NBI fast ion losses in the presence of the toroidal field ripple on EAST have been investigated by using the orbit code GYCAVA and the NBI code TGCO. The ripple effect was included in the upgraded version of the GYCAVA code. It is found that loss regions of NBI fast ions are mainly on the low field side near the edge in the presence of ripple. For co-current NBIs, the synergy effect of ripple and Coulomb collision on fast ion losses is dominant, and fast trapped ions located on the low field side are easily lost. The ripple well loss and the ripple stochastic loss of fast ions have been identified from the heat loads of co-current NBI fast ions. The ripple stochastic loss and the collisioninduced loss are much larger than the ripple well loss. Heat loads of lost fast ions are mainly localized on the right side of the radio frequency wave antennas from the inside view toward the first wall. For counter-current NBIs, the first orbit loss due to the magnetic drift is the dominant loss channel. In addition, fast ion loss fraction with ripple and collision for each NBI linearly increases with the effective charge number, which is related to the pitch angle scattering effect.     

Flexible electronic skin with high performance pressure sensing based on PVDF/rGO/BaTiO3 composite thin film

The wearable intelligent electronic product similar to electronic skin has a great application prospect. However, flexible electronic with high performance pressure sensing functions are still facing great challenges. In this paper, the highly sensitive flexible electronic skin (FES) based on the PVDF/rGO/BaTiO₃ composite thin film was fabricated using the near-field electrohydrodynamic direct-writing (NFEDW) method. The PVDF/rGO/BaTiO₃ composite solution was directly written on flexible substrate by the NFEDW method to fabricate FES with micro/nano fiber structure, which has the function of sensing pressure with high sensitivity and fast response. The surface morphology and microstructure were characterized by SEM, AFM, and optical microscope in detail. The fabricated FES has high sensitivity (59 kPa⁻¹) and faster response time (130 ms). FES has been successfully applied to the detection of human motion and subtle physiological signals. The experimental results show that FES has good stability and reliability. FES can recognize human motion, and it has a broad application prospect in the field of wearable devices.