On the Survivability of Self-repairing Control System for a Hybrid Underwater Vehicle

A hybrid remotely operated underwater vehicle （HROV） capable of working to the full ocean depth has been developed. In order for the vehicle to achieve a certain survivability level, a self-repairing control system （SRCS） has been designed. It consists of two basic technologies, fault diagnosis and isolation （FDI） and reconfigurable control. For F＇DI, a model-based hierarchical fault diagnosis system is designed for the HROV. Then, control strategies which reconfigure the control system at intervals according to information from the FDI system are presented. Combining the two technologies, it can obtain the fundamental frame of SRCS for the HROV. Considering the hazardous underwater environment at the limiting depth and the hybrid operating modes, an assessment of the HROV＇ s survivability is vitally needed before it enters operational service. This paper presents a new definition of survivability for underwater vehicles and develops a simple survivability model for the SRCS. As a result of survivability assessment for the SRCS, we are able to figure out the survivability of SRCS and make further optimization about it. The methodology developed herein is also applicable to other types of underwater vehicles.     

Temperature Dependence of the Magnetocrystalline Anisotropy in Nd_2Co_(14)B Compound

Easy and hard magnetization curves of Nd_2Co_(14)B compound have been measured withextracting-sample-magnetometer(μ_0H_(max)=6T)at 10～300 K.Magnetic anisotropy constants K_1 and K_2have been determined by fitting the hard magnetization curves,in which only K_1 ,K_2 and misalignment anglehave been taken as fitting parameters.The values of K_1 and K_2 at 4.2 K were derived by extrapolation.Anisotropy coefficients,x_2~° and x_4~°were derived from the anisotropy constants.The anisotropy constant K_2increases rapidly with increasing temperature when TT_(sr).The temperature depen-dence of the magnetic anisotropy coefficient x_2~° was fitted with the formula.The anisotropy coefficients x_2~°can be well described by the tenth-power law from 4.2 K to T_(sr)and by the sixth-power law from T_(sr_ to 300 K.     

A modular designed bolt tightening shaft based on adaptive fuzzy backstepping control

This paper presents a modular designed autonomous bolt tightening shaft system with an adaptive fuzzy backstepping control approach developed for it. The bolt tightening shaft is designed for the autonomous bolt tightening operation, which has huge potential for industry application. Due to the inherent nonlinear and uncertain properties, the bolt tightening shaft and the bolt tightening process are mathematically modeled as an uncertain strict feedback system. With the adaptive backstepping and approximation property of fuzzy logic system, the controller is recursively designed. Based on the Lyapunov stability theorem, all signals in the closed-loop system are proved to be uniformly ultimately bounded and the torque tracking error exponentially converges to a small residue. And the effectiveness and performance of the proposed autonomous system are verified by the simulation and experiment results on the bolt tightening shaft system.     

Study of diffusion mobilities of Nb and Zr in bcc Nb–Zr alloys

On the basis of the available thermodynamic parameters, the atomic mobilities of Nb and Zr in bcc Nb–Zr alloys are critically assessed as functions of temperatures and compositions by the CALPHAD method, where self-diffusion coefficients, impurity diffusion coefficients, tracer diffusion coefficients, interdiffusion coefficients and concentration curves are simultaneously optimized. Comparisons between the calculated and experimentally measured diffusion coefficients are made, where good agreement is evident. In addition, the obtained mobility parameters can reproduce a reasonable concentration profile for the Nb/Zr diffusion couple annealed at 1868 K for 5400 s.     

Amine Coordinated Electron-Rich Palladium Nanoparticles for Electrochemical Hydrogenation of Benzaldehyde

Electrocatalytic hydrogenation (ECH) is a burgeoning strategy for the sustainable utilization of hydrogen. However, how to effectively suppress the competitive hydrogen evolution reaction (HER) is a big challenge to ECH catalysis. In this study, amine (NH₂ R)-coordinated Pd nanoparticles loaded on carbon felt (Pd@CF) as a catalyst is successfully synthesized by a one-step solvothermal reduction method using oleylamine as the reducing agent. An exceptional ECH reactivity on benzaldehyde is achieved on the optimal Pd@CF catalyst in terms of a high conversion (89.7%) and selectivity toward benzyl alcohol (89.8%) at −0.4 V in 60 min. Notably, the Faradaic efficiency for producing benzyl alcohol is up to 90.2%, much higher than that catalyzed by Pd@CF-without N-group (41.1%) and thecommercial Pd/C (20.9%). The excellent ECH performance of Pd@CF can be attributed to the enriched electrons on Pd surface resulted from the introduction of NH₂ R groups, which strengthens both the adsorption of benzaldehyde and the adsorbed hydrogen (H_ads) on Pd, preventing the combination of H_ads to form H₂, that is, inhibiting the HER. This study gives a new insight into design principles of highly efficient electrocatalysts for the hydrogenation of unsaturated aldehydes molecules.