Description of the thermodynamic properties and fluid-phase behavior of aqueous solutions of linear,branched, and cyclic amines

The SAFT-γ Mie group-contribution equation of state is used to represent the fluid-phase behavior of aqueous solutions of a variety of linear, branched, and cyclic amines. New group interactions are developed in order to model the mixtures of interest, including the like and unlike interactions between alkyl primary, secondary, and tertiary amine groups (NH₂, NH, N), cyclic secondary and tertiary amine groups (cNH, cN), and cyclic methine-amine groups (cCHNH, cCHN) with water (H₂O). The group-interaction parameters are estimated from appropriate experimental thermodynamic data for pure amines and selected mixtures. By taking advantage of the group-contribution nature of the method, one can describe the fluid-phase behavior of mixtures of molecules comprising those groups over broad ranges of temperature, pressure, and composition. A number of aqueous solutions of amines are studied including linear, branched aliphatic, and cyclic amines. Liquid–liquid equilibria (LLE) bounded by lower critical solution temperatures (LCSTs) have been reported experimentally and are reproduced here with the SAFT-γ Mie approach. The main feature of the approach is the ability not only to represent accurately the experimental data employed in the parameter estimation, but also to predict the vapor–liquid, liquid–liquid, and vapor–liquid–liquid equilibria, and LCSTs with the same set of parameters. Pure compound and binary phase diagrams of diverse types of amines and their aqueous solutions are assessed in order to demonstrate the main features of the thermodynamic and fluid-phase behavior.     

Shared human–robot path following control of an unmanned ground vehicle

This paper considers the shared path following control of an unmanned ground vehicle by a single person. A passive measure of human intent is used to blend the human and machine inputs in a mixed initiative approach. The blending law is combined with saturated super-twisting sliding mode speed and heading controllers, so that exogenous disturbances can be counteracted via equivalent control. It is proven that when the proposed blending law is used, the combined control signals from both the human and automatic controller respect the actuator magnitude constraints of the machine. To demonstrate the approach, shared control experiments are performed using an unmanned ground vehicle, which follows a lawn mower pattern shaped path.     

Patterns in environmental priorities revealed through government open data portals

The ways in which environmental priorities are framed are varied and influenced by political forces. One technological advance--the proliferation of government open data portals (ODPs)--has the potential to improve governance through facilitating access to data. Yet it is also known that the data hosted on ODPs may simply reflect the goals and interests of multiple levels of political power. In this article, I use traditional statistical correlation and regression techniques along with newer natural language processing and machine learning algorithms to analyze the corpus of datasets hosted on government ODPs (total: 49,066) to extract patterns that relate scales of governance and political liberalism/conservatism to the priorities and meaning attached to environmental issues. I find that state-level and municipal-level ODPs host different categories of environmental datasets, with municipal-level ODPs generally hosting more datasets pertaining to services and amenities and state-level ODPs hosting more datasets pertaining to resource protection and extraction. Stronger trends were observed for the influences of political conservatism/liberalism among state-level ODPs than for municipal-level ODPs.     

An active balancer with rapid bidirectional charge shuttling and adaptive equalization current control for lithium-ion battery strings

This article proposes an active balancer, which features bidirectional charge shuttling and adaptive equalization current control, to fast counterbalance the state of charge (SOC) of cells in a lithium-ion battery (LIB) string. The power circuit consists of certain bidirectional buck-boost converters to transfer energy among the different cells back and forth. Owing to the characterization of the open-circuit voltage (OCV) vs SOC in LIB being relatively smooth near the SOC middle range, the SOC-inspected balance strategy can achieve more precise and efficient equilibrium than the voltage-based control. Accordingly, a compensated OCV-based SOC estimation is put forward to take into account the discrepancy of SOC estimation. Besides, the varied-duty-cycle (VDC) and curve-fitting modulation (CFM) methods are devised herein to tackle the problems of slow equalization rate and low balance efficacy, which arise from the diminution in balancing current as the SOC difference between the cells decreases in the later duration of equalization especially. The proposed strategies have taken the battery nonlinear characteristic and circuit parameter nonideality into account and can adaptively modulate the duty cycle with the SOC difference to keep balancing current constant throughout the balancing cycle. Simulated and experimental results are given to demonstrate the feasibility and effectiveness of the same prototype constructed. Compared with the fixed duty cycle and the VDC methods, the proposed CFM has the best balancing efficiency of 81.4%, and the balance time is shortened by 27.1% and 18.6%, respectively.     

Neural network-based flight control systems: Present and future

As the first review in this field, this paper presents an in-depth mathematical view of Intelligent Flight Control Systems (IFCSs), particularly those based on artificial neural networks. The rapid evolution of IFCSs in the last two decades in both the methodological and technical aspects necessitates a comprehensive view of them to better demonstrate the current stage and the crucial remaining steps towards developing a truly intelligent flight management unit. To this end, in this paper, we will provide a detailed mathematical view of Neural Network (NN)-based flight control systems and the challenging problems that still remain. The paper will cover both the model-based and model-free IFCSs. The model-based methods consist of the basic feedback error learning scheme, the pseudocontrol strategy, and the neural backstepping method. Besides, different approaches to analyze the closed-loop stability in IFCSs, their requirements, and their limitations will be discussed in detail. Various supplementary features, which can be integrated with a basic IFCS such as the fault-tolerance capability, the consideration of system constraints, and the combination of NNs with other robust and adaptive elements like disturbance observers, would be covered, as well. On the other hand, concerning model-free flight controllers, both the indirect and direct adaptive control systems including indirect adaptive control using NN-based system identification, the approximate dynamic programming using NN, and the reinforcement learning-based adaptive optimal control will be carefully addressed. Finally, by demonstrating a well-organized view of the current stage in the development of IFCSs, the challenging issues, which are critical to be addressed in the future, are thoroughly identified. As a result, this paper can be considered as a comprehensive road map for all researchers interested in the design and development of intelligent control systems, particularly in the field of aerospace applications.     

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。     

A Voltage Control Method for a Distributed Line Feeder by means of Multiagent Approach

This paper proposes a method for the coordinated control of power factor by means of a multiagent approach. The proposed multiagent system consists of two types of agent: single feeder agent (F_AG) and bus agent (B_AG). In the proposed system, an F_AG plays as an important role, which decides the power factors of all distributed generators by executing the load flow calculations repeatedly. The voltage control strategies are implemented as the class definition of Java into the system. In order to verify the performance of the proposed method, it has been applied to a typical distribution model system. The simulation results show that the system is able to control very violent fluctuation of the demands and the photovoltaic (PV) generations.     

Passive micromixer with baffles distributed on both sides of microchannels based on the Koch fractal principle

Since the beginning of the 21st Century, the development of microfluidic chip technology has been very rapid and has attracted the attention of more and more scholars. As an important part of the microfluidic chip, the performance of the micromixer is critical. The fractal structure in the microchannels helps to improve the mixing performance of the micromixer and improve the mixing efficiency of the micromixer. The research results of other scholars are of great significance to the research of the present paper, which mainly studies the effect of changing the baffle state on the mixing efficiency of the micromixer based on the Koch fractal principle. Through simulation analysis, it was found that the mixing efficiency of the baffles distributed on both sides of the microchannel was higher than the mixing efficiency of the baffles distributed on the microchannel side. When the distance between adjacent baffles was divided into 0.15, 0.25 and 0.35 mm, simulated data suggested that the baffle distance of 0.15 mm was best. Increasing the number of baffles from six to eight groups increased the mixing path of the fluid in the microchannel and improved mixing efficiency. A comparison of mixing efficiencies of the 0°, 15° and 30° baffle angles revealed that very significant improvement in mixing efficiency was obtained at 30°. © 2019 Society of Chemical Industry     

平板集热器(倾角)变化工况数值模拟

运用FLUENT数值模拟软件分析了平板集热器(倾角)变化对集热器传热特性的影响,保证其结构参数不变,通过对5组不同倾角(0°、30°、45°、60°、75°)的数值模型进行非稳态模拟,对模拟数据进行分析,得出了平板集热器不同倾角对集热器传热性能变化的影响。