Experimental investigation on the heat and water transfer enhancement in a membrane-based air-to-air humidifier at insulation condition

In the present study, a membrane-based air-to-air planar humidifier (MAPH) with baffle-blocked flow channels and a common MAPH are fabricated, tested and compared. These MAPHs are well thermal insulated from their surroundings. Polyoxymethylene (POM) plates with some unique properties such as large tensile and flexural strength, high chemical resistance and high stiffness are used to create channels at dry and humid sides of MAPHs. The obtained findings revealed that the higher heat and water transfer rates and smaller dew point approach temperature (DPAT) in entire tested flow rates occurs in baffle-blocked MAPH. To evaluate the MAPH performance with considering the pressure drop, a dimensionless parameter, performance evaluation criteria (PEC), is introduced. At flow rates less than 1 m³/h, PEC is less than 1, indicating a decline in MAPH performance with considering the pressure drop. In baffle-blocked MAPH using water trap in the inlet of dry side leads to the performance deterioration. Additionally, the increased relative humidity (RH) of humid side inlet causes an increase in DPAT, consequently, the performance deterioration.     

Modeling,tracking, vibration and balance control of an underactuated mobile manipulator (UMM)

This paper presents an underactuated mobile manipulator (UMM) and focuses on solving modeling, tracking, and vibration- and balance-control problems. Although the study has been directed at warehousing applications, the developed techniques are general and can be applied to other applications. The derivation of equations of motion of the UMM, disturbance analysis, and model validation are investigated to reveal the actual system dynamics. Additionally, a simple but effective strategy is also developed to solve the equilibrium point and balance problem. Based on the dynamic model, two control architectures are proposed: Model Predictive Control (MPC) and MPC+Proportional-Integral (PI) with integral actions, respectively, and they can also be applied to other robotic systems. Compared to other MPC-based control strategies, the proposed controllers require less effort to implement in practice. Finally, simulations, experiments, and robustness verification are conducted and discussed, and the results are satisfactory.     

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.     

Comparison of joint angle,velocity and acceleration estimators for hydraulically actuated manipulators to a novel dynamical approach

Excavators are used for a wide range of applications like earthworks and material handling. Assistance systems are becoming more common to support the operator. For monitoring and control based assistance functions the angular position, velocity and acceleration of the joints from the working implement are required. Commercial systems often use inertial measurement units, consisting of triaxial accelerometers and gyroscopes, to accomplish an estimation of those states. A novel joint angle, velocity and acceleration estimation for hydraulic manipulators is proposed and compared to state of the art methods. A decentralized kinematic filter using no information about the underlying system and a centralized kinematic filter taking the system kinematics into account are implemented as state of the art approaches. Both filters only use inertial measurement units to obtain information about the current state of the system. The novel centralized dynamic filter uses the same information as the centralized kinematic filter and extends it by a dynamic model containing additional information about the angular acceleration due to pressure readings of the hydraulic cylinders. Kalman filtering is used to combine the derived system and measurement models with the sensor information. The methods are evaluated on a material handling excavator for single and coupled movements of the working implement. The novel centralized dynamic filter enables improvements for the angular acceleration estimation compared to the decentralized and centralized kinematic filter. Less noise of the acceleration estimation and a better tracking of the actual acceleration are shown.     

Sub‐5 nm Dendrimer Directed Self‐Assembly with Large‐Area Uniform Alignment by Graphoepitaxy

Directed self‐assembly (DSA) using soft materials is an important method for producing periodic nanostructures because it is a simple, cost‐effective process for fabricating high‐resolution patterns. Most of the previously reported DSA methods exploit the self‐assembly of block copolymers, which generates a wide range of nanostructures. In this study, cylinders obtained from supramolecular dendrimer films with a high resolution (<5 nm) exhibit planar ordering over a macroscopic area via guiding topographical templates with a high aspect ratio (>10) and high spatial resolution (≈20 nm) of guiding line patterns. Theoretical and experimental studies reveal that this property is related to geometrical anchoring on the meniscus region and physical surface anchoring on the sidewall. Furthermore, this DSA of dendrimer cylinders is demonstrated by the non‐regular geometry of the patterned template. The macroscopic planar alignment of the dendrimer nanostructure reveals an extremely small feature size (≈4.7 nm) on the wafer scale (>16 cm²). This study is expected to open avenues for the production of a large family of supramolecular dendrimers with different phases and feature dimensions oriented by the DSA approach.     

Effects of hydrogen enhancement on mesoscale burner array flame stability under acoustic perturbations

Partial substitution of hydrocarbon fuel with hydrogen can effectively improve small-scale combustion system stability and performance, potentially opening the way for novel compact power generation and/or propulsion systems in the future. In this study, the effects of hydrogen enhancement between 0% and 40% hydrogen volumetric fractions in methane fuel were experimentally observed in a mesoscale burner array subjected to external acoustic perturbations. The mesoscale burner array utilizes an array of swirl-stabilized burner elements and their interactions with neighboring elements to improve the overall flame stability and simultaneously reduces the combustor length scale. OH1 chemiluminescence and OH planar laser-induced fluorescence (OH-PLIF) were used to image various hydrogen-enriched flames at an equivalence ratio of 0.7, subjected to transverse acoustic perturbations at 320 Hz. Two acoustic modes were imposed by controlling the phase difference between two speakers perturbing the flow. OH1 chemiluminescence images exhibited flame length scale reduction, leading to a denser flame array. Also, flame arrays with higher hydrogen enrichment were found to be more robust against transverse acoustic perturbations, demonstrated by reduced fluctuations in the global heat release rate. OH-PLIF images showed that flames with higher hydrogen enrichment initiated V- to M-shaped flame shape transition even under fuel lean conditions, thereby improving the combustion stability. OH-PLIF images were also used for flame stability analysis through spectral proper orthogonal decomposition (SPOD). The SPOD analysis showed hydrogen enrichment diminished flame fluctuation structures under fuel lean operation.     

平面并联机构工作空间的三维螺旋扫描CAD求解

针对平面并联机构无奇异位置工作空间求解困难、过程繁琐、计算量大等问题，提出了基于CAD求解平面并联机构工作空间的三维螺旋扫描方法。将[n]自由度平面并联机构分解成[n]条支链进行独立分析，得到每条支链下末端执行器的可达区域，再将所有支链可达区域取交集即为平面并联机构工作空间。应用SolidWorks软件建立平面并联机构模型，进行几何特征处理，通过自动求解器求解，将求解过程图形化，快速得到同轴布局5R机构和平面3-RPR并联机构的无奇异位置工作空间。通过同轴布局5R机构的运动学实验，验证了该求解方法的可行性。     

轻量级电驱水下机械臂设计与运动学分析

设计了一款四功能水下机械臂，并对驱动关节进行了模块化设计和密封测试。为了保证水下机械臂的可靠性，在水下机械臂水下测试前，进行了强度校核和模态分析。为了验证水下机械臂的性能，通过 Ｄ- Ｈ法建立了其运动学模型，在此基础上分别进行了正、逆运动学分析。此外还采用蒙特卡洛法，在正运动学分析的基础上研究了工作空间特点。研究结果将为进一步的运动控制提供有益的帮助。     

一种用于平面的电火花强化修复装置

研究了一种用于金属平面的电火花强化修复装置。经过SEM照片分析,MM200磨损试验,以及硬度梯度分布综合判断,该装置生成的强化修复层比较完整、有一定厚度,极大改善了零件表面的硬度和耐磨性。     

Adaptive actuator failure compensation for cooperative robotic manipulators with parameter uncertainties

This article develops a new framework of adaptive actuator failure compensation control for cooperative manipulator systems with parameter uncertainties in addition to actuator failures, and designs and analyzes effective actuator failure compensation schemes for such robotic systems. The new adaptive control design uses an integration of multiple individual failure compensators and direct adaptation to handle various types of uncertainties in such robotic systems. The design can also be used for concurrent actuator failure cases, to expand the capability of adaptive actuator failure compensation. With a complete proof and performance analysis, it is shown that the proposed control scheme guarantees the desired closed-loop stability and asymptotic output tracking, despite actuator failures whose patterns, time instants and values are all unknown. Simulation results of a benchmark cooperative manipulator system are presented to verify the desired control performance of the system with both typical constant and square-wave actuator failure signals.