Model reference adaptive impedance control in Cartesian coordinates for physical human–robot interaction

In this paper, a nonlinear model reference adaptive impedance controller is proposed and tested. The controller provides asymptotic tracking of a reference impedance model for the robot end-effector in Cartesian coordinates applicable to rehabilitation robotics or any other human–robot interactions such as haptic systems. The controller uses the parameters of a desired stable reference model which is the target impedance for the robot’s end-effector. It also considers uncertainties in the model parameters of the robot. The asymptotic tracking is proven using Lyapunov stability theorem. Moreover, the adaptation law is proposed in joint space for reducing the complexity of its calculations; however, the controller and the stability proof are all presented in Cartesian coordinates. Using simulations and experiments on a two DOFs robot, the effectiveness of the proposed controller is investigated.     

CFD modeling of pilot-scale pump-mixer: Single-phase head and power characteristics

The present work involves single-phase computational fluid dynamics (CFD) simulations of continuous flow pump-mixer employing top-shrouded Rushton turbines with trapezoidal blades. Baffle—impeller interaction has been modeled using sliding mesh and multiple reference frame approaches. Standard k-ε model has been used for turbulence modeling. Several CFD runs representing different combinations of geometric and process parameters have been carried out. Results of CFD simulations have been used to find out two macroscopic performance parameters of pump-mixer—power consumption and head generated by the impeller. The simulation results have been compared with the experimental data obtained on a pilot-scale setup. Good agreement between CFD predictions and experimental results is observed. In most cases, sliding mesh approach is found to perform better than multiple reference frame approach. Details from CFD simulations have been used to have an insight into the pumping action of the impeller.     

水泥企业常用热电偶的使用与维护

测温元件——热电偶热的电势大小仅和两金属的材料及两结合点的温度有关．鉴于此因素．适当的维护和维修可延长其使用寿命，减少生产成本。针对不同测量系统和不同工艺要求，介绍了四种水泥企业最常用的热电偶以及安装热电偶时所需注意事项。根据生产实践，重点介绍了热电偶的常见故障及其维护与维修方法。     

基于Host Link FINS协议的PLC远程通信

以欧姆龙公司CP1H型号的PLC为应用背景,设计了基于Host Link FINS协议的PLC设备远程监控系统.该文提出了基于串口的远程通信方案,并且详细分析了Host Link FINS协议的结构和指令格式,用MFC实现了监控软件的设计,完成监控软件与欧姆龙PLC的数据通信功能,实现监控软件对PLC的远程监控.经过现场的测试和运行,该监控系统稳定可靠,性能较高.     

校车车身结构的有限元分析

建立某型校车的有限元模型,计算在不同工况下其车身骨架的静态强度.计算结果表明:在弯曲和扭转工况下,该校车最大应力分别为154.8和171.4 MPa,均小于Q235屈服应力235 MPa;最大变形分别为4.925和12.92 mm,满足《客车定型试验规程(GB/T 13043—2006)》中所规定的弯曲和扭转工况下10及12 mm的限额;车身结构整体应力大多集中在30 MPa左右,有较大的安全裕度.分析结果可为该校车车身骨架结构优化提供参考.     

刹车盘结构对车轮及整车流场的影响

为研究车轮刹车盘结构对旋转车轮和整车流场气动特性的影响,针对是否存在刹车盘两种情况分别建立等比例模型,采用可实现的k-ε两方程模型计算,对比分析气动升、阻力因数,表面压力因数及整体与局部流场,发现刹车盘结构在简化车体上对车轮局部和整车流场都具有突出影响,指出在整车气动特性模拟中刹车盘存在的必要性.进一步进行计算模型选择的研究,发现旋转壁面模型与多坐标参考系(Multiple Reference Frame,MRF)模型对旋转车轮的流场特性模拟结果有差异,在近车轮区域表现尤为明显.     

汽车发动机冷却风扇仿真方法对比

对比多参考坐标系(Multiple Reference Frame,MRF)模型和滑移网格模型(Sliding Mesh Model,SMM)在分析中的差异,分别应用FLUENT中的三维N-S方程和RNG湍流模型,对发动机冷却风扇的静止和旋转区域进行数值模拟,得到流道内空气的质量流量及风扇叶片表面的压力和速度矢量分布.SMM的结果更接近真实结果;根据SMM得出的结果说明MRF模型在工程领域的应用.     

框架结构护岸新技术在城市河道中的应用

好溪堰河是贯穿浙江省丽水市主城区的一条千年古河道,在河道整治过程中,受制于河道周边的密集建筑物,传统的河道护岸技术均难以同时满足水利、市政、交通及景观的多元化要求。在分析其他创新河道护岸技术特点及存在问题的基础上,提出了适用于城市河道的桩柱式、框柱式两种框架结构护岸新技术,这两种护岸在维护河道周边建筑物稳定的同时,均具有不加深河床就可拓宽河道过流断面、不减少河岸用地、保持岸路畅通、改善水质及生态效果、提高亲水性等优点,在丽水好溪堰河水系整治工程中应用较为成功。     

Dynamic output feedback control of a flexible air-breathing hypersonic vehicle via T–S fuzzy approach

By utilising Takagi–Sugeno (T–S) fuzzy set approach, this paper addresses the robust H_∞ dynamic output feedback control for the non-linear longitudinal model of flexible air-breathing hypersonic vehicles (FAHVs). The flight control of FAHVs is highly challenging due to the unique dynamic characteristics, and the intricate couplings between the engine and fight dynamics and external disturbance. Because of the dynamics’ enormous complexity, currently, only the longitudinal dynamics models of FAHVs have been used for controller design. In this work, T–S fuzzy modelling technique is utilised to approach the non-linear dynamics of FAHVs, then a fuzzy model is developed for the output tracking problem of FAHVs. The fuzzy model contains parameter uncertainties and disturbance, which can approach the non-linear dynamics of FAHVs more exactly. The flexible models of FAHVs are difficult to measure because of the complex dynamics and the strong couplings, thus a full-order dynamic output feedback controller is designed for the fuzzy model. A robust H_∞ controller is designed for the obtained closed-loop system. By utilising the Lyapunov functional approach, sufficient solvability conditions for such controllers are established in terms of linear matrix inequalities. Finally, the effectiveness of the proposed T–S fuzzy dynamic output feedback control method is demonstrated by numerical simulations.     

建筑陶瓷的装桢与软件复用技术的应用——三维虚拟展示系统的开发

在软件复用基本理论和技术的基础上，阐述了软件体系结构对软件复用的意义，提出了基于软件体系的软件复用开发方法以及在建筑陶瓷三维虚拟展示系统开发过程中的应用。