Improvement of gold electrode conductivity after cofiring with CaO–B2O3–SiO2 green tapes for LTCC application

The cofiring process of Au paste containing various amount of glass additive with different properties and CaO–B₂O₃–SiO₂ (CBS) green tapes was investigated. The initial shrinkage temperature of Au paste was strongly associated with the softening point and the content of glass additive. The swell of sample and its mechanism during cofiring process was reported. The sheet resistivity of Au electrode was greatly depended on the content of CBS glass additive. When the content of CBS glass additive with the softening point of 704 °C was 3 wt %, the Au electrode exhibited the highest conductivity with the sheet resistivity of 2.4 mΩ/sq. The results obtained in this paper revealed the relationship between the glass additive and cofiring defects of Au electrode in the metal/ceramic multilayer structure, which gave an avenue to manufacture Low temperature co-fired ceramics (LTCC) modules with good quality.     

Improving scenario decomposition algorithms for robust nonlinear model predictive control

This paper deals with the efficient computation of solutions of robust nonlinear model predictive control problems that are formulated using multi-stage stochastic programming via the generation of a scenario tree. Such a formulation makes it possible to consider explicitly the concept of recourse, which is inherent to any receding horizon approach, but it results in large-scale optimization problems. One possibility to solve these problems in an efficient manner is to decompose the large-scale optimization problem into several subproblems that are iteratively modified and repeatedly solved until a solution to the original problem is achieved. In this paper we review the most common methods used for such decomposition and apply them to solve robust nonlinear model predictive control problems in a distributed fashion. We also propose a novel method to reduce the number of iterations of the coordination algorithm needed for the decomposition methods to converge. The performance of the different approaches is evaluated in extensive simulation studies of two nonlinear case studies.     

Adaptive robust control of fully-constrained cable driven parallel robots

In this paper, adaptive robust control (ARC) of fully-constrained cable driven parallel robots is studied in detail. Since kinematic and dynamic models of the robot are partly structurally unknown in practice, in this paper an adaptive robust sliding mode controller is proposed based on the adaptation of the upper bound of the uncertainties. This approach does not require pre-knowledge of the uncertainties upper bounds and linear regression form of kinematic and dynamic models. Moreover, to ensure that all cables remain in tension, proposed control algorithm benefit the internal force concept in its structure. The proposed controller not only keeps all cables under tension for the whole workspace of the robot, it is chattering-free, computationally simple and it does not require measurement of the end-effector acceleration. The stability of the closed-loop system with proposed control algorithm is analyzed through Lyapunov second method and it is shown that the tracking error will remain uniformly ultimately bounded (UUB). Finally, the effectiveness of the proposed control algorithm is examined through some experiments on a planar cable driven parallel robot and it is shown that the proposed controller is able to provide suitable tracking performance in practice.     

Exergoeconomic performances of the desiccant-evaporative air-conditioning system at different regeneration and reference temperatures

This paper presented the exergoeconomic evaluation of the developed desiccant-evaporative air-conditioning system. The developed system was evaluated based on the steady-state conditions at different regeneration and reference temperatures. The exergoeconomic evaluation method was implemented to the system components and the whole system to evaluate the exergy efficiency, exergy destruction ratios, cost rates, relative cost differences and exergoeconomic factors. The regeneration and reference temperatures affected the exergy efficiencies, exergy destruction ratios, cost rates, relative cost differences and exergoeconomic factors. The desiccant wheel, heating coil and evaporative cooler had a high cost rate (investment cost, operation and maintenance cost, and exergy destruction cost). The exit air fan, outdoor air fan and evaporative cooler had a high relative cost difference. The exit air fan, outdoor air fan and secondary heat exchanger had a high exergoeconomic factor. Replacement of the desiccant wheel with a higher dehumidification performance could decrease the high cost rate. A higher efficiency evaporative cooler and heating coil were needed. Cheaper air fans (outdoor air fans and exit air fans) were needed.     

A novel robot co-worker system for paint factories without the need of existing robotic infrastructure

This paper presents a human–robot co-working system to be applied to industrial tasks such as the production line of a paint factory. The aim is to optimize the picking task with respect to manual operation in a paint factory. The use of an agile autonomous robot co-worker reduces the time in the picking process of materials, and the reduction of the exposure time to raw materials of the worker improves the human safety. Moreover, the process supervision is also improved thanks to a better traceability of the whole process. The whole system consists of a manufacturing process management system, an autonomous navigation system, and a people detection and tracking system. The localization module does not require the installation of reflectors or visual markers for robot operation, significantly simplifying the system deployment in a factory. The robot is able to respond to changing environmental conditions such as people, moving forklifts or unmapped static obstacles like pallets or boxes. The system is not tied to specific manufacturing orders. It is fully integrated with the manufacturing process management system and it can process all possible orders as long as their components are placed into the warehouse. Real experiments to validate the system have been performed in a paint factory by a real holonomic platform and a worker. The results are promising from the evaluation of performance indicators such as exposure time of the worker to raw materials, automation of the process, robust and safe navigation, and the assessment of the end-user.     

具有光照鲁棒的图像匹配方法

针对现有的基于局部特征的图像匹配算法对光照变化敏感、匹配正确率低等问题，提出一种具有光照鲁棒性的图像匹配算法。首先使用实时对比保留去色（RTCP）算法灰度化图像，然后利用对比拉伸函数模拟不同光照变换对图像的影响从而提取抗光照变换特征点，最后采用局部强度顺序模式建立特征点描述符，根据待匹配图像局部特征点描述符的欧氏距离判断是否为成对匹配点。在公开数据集上，所提算法与尺度不变特征变换（SIFT）算法、加速鲁棒特征（SURF）算法、"风"（KAZE）算法和ORB算法在匹配速度和匹配正确率上进行了对比实验。实验结果表明：随着图像亮度差异的增加，SIFT算法、SURF算法、"风"（KAZE）算法和ORB算法匹配正确率下降迅速，所提算法下降缓慢并且正确率均高于80%；所提算法特征点检测较慢和描述符维数较高，平均耗时为23.47 s，匹配速度不及另外四种算法，但匹配质量却远超过它们。对实时性要求不高的系统中，所提算法可以克服光照变化对图像匹配造成的影响。     

Irradiation-induced microstructure damage in He-irradiated 3C-SiC at 1000℃

The effect of the high-temperature helium irradiation on microstructural evolution of 3C-SiC was investigated by the combination of Raman spectroscopy, conventional transmission electron microscopy (TEM) and high resolution transmission electron microscopy (HRTEM). 3C-SiC wafers were irradiated with 130 keV He⁺ ions at fluences of 2 × 10¹⁶ He⁺/cm², 4 × 10¹⁶ He⁺/cm² and 2 × 10¹⁷ He⁺/cm² at 1000℃. Helium bubbles, dislocation loops, and their interaction with the stacking faults were focused on and characterized by TEM. Helium bubbles preferentially nucleate and grow on stacking faults. Bubble links on the (100) plane in 3C-SiC are formed. In addition, stacking faults can effectively trap irradiation-induced lattice defects to enhance their recovery. The type of irradiation-induced lattice defects and elemental distribution are also investigated. The research results are valuable for the 3C-SiC used in the advanced nuclear energy systems.