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HYDRODYNAMIC ANALYSIS AND SIMULATION OF A SWIMMING BIONIC ROBOT TUNA

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Journal of Hydrodynamics 2007年第4期19卷 412-420页

作者： CHEN Hong ZHU Chang-an YIN Xie-zhen XING Xiao-zheng CHENG Gang college of mechatronics and control engineering Shenzhen University Shenzhen 518060 China School of engineering Science University of Science and Technology of China Hefei 230027 China

A dynamic model for undulatory locomotion was proposed to study the swimming mechanism of a developed bionic robot tuna. On the basis of inviscid hydrodynamics and rigid-body dynamics, the momentum and propulsive force required for propelling the swimming robot tuna＇s flexible body was calculated. By solving the established dynamic equations and efficiency formula, the swimming velocity and propulsive efficiency of the bionic robot tuna were obtained. The relationship between the kinematic parameters of the robot tuna＇s body curve and the hydrodynamic performances was established and discussed after hydrodynamic simulations. The results presented in this article can be used to increase the swimming speed, propulsive thrust, and the efficiency of underwater vehicles effectively.

关键词： undulatory locomotion swimming propulsive force efficiency body curve hydrodynamic simulations

The Design and Its Application of Cross-Coupled controller in X-Y Table

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武汉理工大学学报 2006年第S3期28卷 783-787页

作者： XI Lei~1 WANG Xin~2 ZHANG Yi~1 (1.Division of control and mechatronics engineering,Harbin Institute of Technology shenzhen Graduate,shenzhen 518055,china, 2.Division of Mechanical engineering & Automation,Harbin Institute of Technology shenzhen Graduate,shenzhen 518055,china) Division of control and mechatronics engineering Harbin Institute of Technology Shenzhen GraduateShenzhen 518055China Division of Mechanical engineering & Automation Harbin Institute of Technology Shenzhen GraduateShenzhen 518055China

In conventional cross-coupled controller design,the method usually ignored the inherent characteristic of time-vary- ing parameters and model uncertainties in *** this paper,a cross-coupled controller(CCC)using an H~∞control scheme has been proposed to reduce the contouring error for an X-Y ***,the proposed CCC design,which is a typical Multi- Input Multi-Output(MIMO)system with linear time varying(LTV)characteristics,has been verified as being internally stable. The simulations are carried on Matlab simulink to verify the proposed method,and the results showed that the proposed method can reduce the contouring error significantly compared with the conventional one.

关键词： motion control cross-coupled control contour error H∞control

Identification of secondary organic aerosols based on aerosol mass spectrometry

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中国科学：化学英文版 2010年第12期53卷 2593-2599页

作者： HUANG XiaoFeng 1,ZHAO QianBiao 1,2,HE LingYan 1,HU Min 2,BIAN QiJing 3,XUE Lian 1 & ZHANG YuanHang 2 1 Key Laboratory for Urban Habitat Environmental Science and Technology School of Environment and Energy,Peking university shenzhen Graduate School,shenzhen 518055,china 2 State Key Joint Laboratory of Environmental Simulation and Pollution control college of Environmental Sciences and engineering,Peking university,Beijing 100871,china 3 Division of Environment,Hong Kong university of Science & Technology,Hong Kong,china 1. Key Laboratory for Urban Habitat Environmental Science and Technology School of Environment and Energy Peking University Shenzhen Graduate School Shenzhen 518055 China2. State Key Joint Laboratory of Environmental Simulation and Pollution Control college of Environmental Sciences and engineering Peking University Beijing 100871 China3. Division of Environment Hong Kong University of Science & Technology Hong Kong China

Secondary organic aerosol (SOA) is one of the major components of aerosols in the atmosphere and has not been well understood so *** to the complex chemical composition of organic aerosols,the identification of SOA has been a hotspot and difficult issue in the field of aerosol *** study attempts to quantitatively identify SOA in winter of shenzhen based on positive matrix factorization (PMF) *** sources were resolved and SOA was identified subsequently according to the characteristic ion fragments measured by highly time-resolved aerosol mass spectrometer *** showed that in the winter of shenzhen the average SOA concentration was 9.41±6.33 g/m 3,accounting for 39.9±21.8% of the total organic *** with primary organic aerosol (POA),the SOA concentrations had no large variation,suggestive of characteristics of regional secondary *** ratio of SOA/BC had pronounced diurnal variation,similar to that of O x (O3+NO2),indicating SOA formation was significantly controlled by activity of photochemistry in the *** most effective period for SOA formation was from 9 am～3 pm since the SOA/BC ratio increased by 122% during this *** study provides a new technical method and a new idea for SOA investigation.

关键词： secondary organic aerosol aerosol mass spectrometry positive matrix factorization (PMF)

High time resolution observation and statistical analysis of atmospheric light extinction properties and the chemical speciation of fine particulates

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Science china Chemistry 2010年第8期53卷 1801-1808页

作者： YAO TingTing1,HUANG XiaoFeng1,HE LingYan1,HU Min2,SUN TianLe1,XUE Lian1,LIN Yun1,ZENG LiWu1 & ZHANG YuanHang2 1Key Laboratory for Urban Habitat Environmental Science and Technology,School of Environment and Energy,Peking university shenzhen Graduate School,shenzhen 518055,china 2State Key Joint Laboratory of Environmental Simulation and Pollution control college of Environmental Sciences and engineering,Peking university,Beijing 100871,china 1. Key Laboratory for Urban Habitat Environmental Science and Technology School of Environment and Energy Peking University Shenzhen Graduate School Shenzhen 518055 China2. State Key Joint Laboratory of Environmental Simulation and Pollution Control college of Environmental Sciences and engineering Peking University Beijing 100871 China

In recent years,the visibility deterioration caused by regional fine particulate pollution becomes one of the crucial air pollution problems in the urban areas of our *** rapid variation of visibility and fine particulates make it difficult to estimate the relationship between them precisely and accurately unless high time resolution observation data can be *** study aims to fill this gap in the field of atmospheric science by establishing a formula using multiple linear *** fitting goodness (R2=0.913,n=3167) was obtained using 10 min average of high-resolution real-time light scattering coefficients,light absorption coefficients,main chemical speciation concentration in PM1 and some meteorological parameters from 17 Jan to 16 Feb,*** shows that the average light extinction coefficient during the observation in the winter of shenzhen was measured to be 290 ± 183 Mm?1,consisting of 72% of light scattering and 21% of *** terms of the percentage contribution of PM1 chemical species to the total light extinction,the organic matter was estimated to be most with an average of 45%,followed by ammonium sulfate with an average of 24%.The contributions of black carbon and ammonium nitrate were 17% and 12%,***,the diurnal variation of light extinction was investigated as well in this study.

关键词： light extinction PM1 chemical speciation high time resolution multiple linear regressions

Deadbeat control Based on the New State-observer for VSR

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Deadbeat Control Based on the New State-observer for VSR

Improvement of power efficiency of polymer solar cell based on P3HT:PCBM blends

11th International Conference on Electrical Machines and Systems

作者： Chunlong Li~1 Yuenong Fei~1 Yinghui Zhang~2 1 School of mechatronics and control engineering shenzhen university china 2 Industrial Center shenzhen Polytechnic china

＜正＞Ⅰ.INTRODUCTION As compared to analog control,digital control provides a number of advantages such as less susceptibility to aging and environmental variation,better noise immunity,ability to handle complex control schemes,and easy reprogramming for different ***,one of main drawbacks of digital control is the decreasing bandwidth due to the inherent time delay of the control loop *** delay comes from both the zero-order-hold and the computational time delay required for A/D conversion,computation,and PWM *** is shown that this time delay degrades system stability to some *** may occur in some condition and even system may be in instable status.

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Improvement of power efficiency of polymer solar cell based ...

An Anthropomorphic Robot Hand Developed Based on Underactuated Mechanism and controlled by EMG Signals

2007亚洲光电子会议固态照明与太阳能技术分会场

作者： Li Weimina,b,Guo Jinchuan*c,Sun Xiuquand,Zhou Binc acollege of Optoelectronic Science and engineering, Huazhong university of Science and Technology, Wuhan 430074,P R china bSchool of mechatronics and control engineering ,shenzhen university, shenzhen 5.8060,P R china c Institute of optoelectronics shenzhen university, shenzhen 5.8060,P R china d School of Electronic Science and Technology ,shenzhen university, shenzhen 5.8060,P R china

The effect of interlayer on the performance of a poly[2-methoxy-5-（3’,7’-dimethylocty）-1,4-phenylenevinylene] （MDMO-PPV）/1-（3-methoxycarbony 1）-propy1-1 phney1-（6-6）C61 （PCBM） composite solar cell device has been reported recently. Herein we report bulk heterojunction organic solar cell with efficiency enhanced by interlayer made from blend film of regioregular poly（3-hexylthiophene）（P3HT） and PCBM. The interlayer, poly（9,9-dioctylfluorene）-co-N-（1,4-butylphenyl）diphenylamine)（TFB）,was inserted between the poly（3,4-ethylene dioxythiophene）-poly（styrene sulfonic acid）（PEDOT:PPS） and the active layer. With the interlayer, the efficiency was enhanced due to the increased short circuit current density （Jsc）,open circuit voltage （Voc） and fill factor （FF） obtained from testing and calculation. According to the analysis, the interlayer TFB, acting as an effective exciton-blocking layer, prevented the severe quenching of radiative excitons between the interface of PEDOT:PSS. In the study, the interlayer increased Jsc from 0.891 mA/cm2 to 1.025 mA/cm-2 ,Voc from 0.478 V to 0.526 V , and FF from 0.327 to 0.416, under illumination by white light from a solar simulator with an incident intensity of 80mW/cm2;the power conversion efficiency of the device reached higher value 0.280% comparing with 0.174%with no interlayer.

关键词： interlay TFB bulk heterojunction P3HT PCBM efficiency

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Journal of Bionic engineering 2009年第3期6卷 255-263页

作者： Da-peng Yang~1 Jing-dong Zhao~1 Yi-kun Gu~1 Xin-qing Wang~1 Nan Li~1 Li Jiang~1Hong Liu~(1,2) Hai Huang~3 Da-wei Zhao~41.State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150001,P.R.china2.Institute of Robotics and mechatronics,German Aerospace Center,Munich 82230,Germany3.college of Shipbuilding engineering,Harbin engineering university,Harbin 150001,P.R.china4.college of Automation,Harbin engineering university,Harbin 150001,P.R.china [a]State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 P. R. China [b]Institute of Robotics and Mechatronics German Aerospace Center Munich 82230 Germany [c]College of Shipbuilding Engineering Harbin Engineering University Harbin 150001 P. R. China [d]College of Automation Harbin Engineering University Harbin 150001 P. R. China

When developing a humanoid myo-control hand,not only the mechanical structure should be considered to afford a high dexterity,but also the myoelectric (electromyography,EMG) control capability should be taken into account to fully accomplish the actuation *** paper presents a novel humanoid robotic myocontrol hand (AR hand Ⅲ) which adopted an underac- tuated mechanism and a forearm myocontrol EMG *** AR hand Ⅲ has five fingers and 15 joints,and actuated by three embedded *** can be found within each finger and between the rest three fingers (the middle finger,the ring finger and the little finger) when the hand is grasping *** the EMG control,two specific methods are proposed:the three-fingered hand gesture configuration of the AR hand Ⅲ and a pattern classification method of EMG signals based on a statistical learning algorithm-Support Vector Machine (SVM).Eighteen active hand gestures of a testee are recognized ef- fectively,which can be directly mapped into the motions of AR hand Ⅲ.An on-line EMG control scheme is established based on two different decision functions:one is for the discrimination between the idle and active modes,the other is for the recog- nition of the active *** a result,the AR hand Ⅲ can swiftly follow the gesture instructions of the testee with a time delay less than 100 ms.

关键词： humanoid hand underactuated mechanism EMG control suppon vector machine

Design of Parking Guidance and Information System in shenzhen City

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Design of Parking Guidance and Information System in Shenzhe...

2009 ISECS International Colloquium on Computing, Communication, control, and Management

作者： MO Yikui college of Civil engineering shenzhen university Nanhai Road 3688,shenzhen,china SU Yongyun Design department shenzhen Urban Transport Planning Center Hongli west Road 8009,shenzhen,china

shenzhen City is considering to deploy a Parking Guidance and Information System(PGIS) to provide drivers with real-time parking information to solve urban traffic problems caused by the lack of parking *** paper discusses the implementation of a PGIS for the shenzhen centre *** approach to PGIS planning and design in this area is ***,this paper analyzes the objective of the PGIS in shenzhen *** the overall system architecture of PGIS from the hardware platform to the application software is *** process of data collection and the design of information display board are also ***,the implementation schedule of PGIS in shenzhen City is *** deployment,shenzhen's PGIS will be one of the largest applications of real-time parking management in South china.

关键词： parking guidance and information system parking guidance signs intelligent transportation system system design

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微机控制汽油喷射系统控制特性分析

深圳大学学报（理工版） 1996年第3期13卷 57-63页

作者：胡琳深圳大学控制及机电工程系

分析了９０年代以来新型轿车汽油直接喷射系统微机控制部分的工作特性，并对其具体控制过程进行了探讨．

关键词：汽油喷射系统发动机计算机控制汽车