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Modeling and control of a rigid-flexible coupling robot for narrow space manipulations

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Science China(Technological Sciences) 2025年第2期68卷 136-152页

作者： Kuangda CHEN huan zhao Jiexin ZHANG Mei FENG Yiwei wang Jinliang wang Han DING State Key Laboratory of Intelligent Manufacturing Equipment and Technology Huazhong University of Science and TechnologyWuhan 430074China Key Laboratory of CNC Equipment Reliability Ministry of EducationJilin UniversityChangchun 130021China School of Medical Equipment Science and Engineering Huazhong University of Science and TechnologyWuhan 430074China

Narrow space manipulations are crucial for equipment maintenance,as they eliminate the need for disassembly,thus reducing costs and increasing ***-driven flexible robots possess exceptional capabilities in maneuvering through narrow spaces,thanks to their interaction compliance and distal ***,their inherent low stiffness causes a decline in the location accuracy of the robot and could even lead to manipulation *** address this challenge,this paper proposes a novel type of rigid-flexible coupling robot,which increases the stiffness of the robot while ensuring the reachability within a narrow *** achieve high-accuracy location in a narrow space,kinematic and control methods are ***,the robot forward kinematics are uniformly represented,and the closed-form inverse kinematics solution is ***,in cases where the robot's structure fails to align with Pieper's solution,a two-stage search strategy is utilized to solve the inverse kinematics,resulting in a high success rate of 99.1%.Based on the proposed kinematics,a rigid-dominated control method is then proposed to facilitate localization and pose alignment of target objects in narrow *** practical comparative experiments show that the proposed robot has the capability of high accuracy control in narrow spaces.

关键词： narrow space manipulation rigid-flexible coupling robot kinematics rigid-dominated control

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Impact of Startup Strategy and Buffer Tank Volume on the Compressor Inlet State for a 3-MW sCO_(2)Brayton Cycle

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Journal of Thermal Science 2025年第1期34卷 159-175页

作者： zhao Decai wang Bo Key Laboratory of Advanced Energy and Power Institute of Engineering Thermophysics(IET)Chinese Academy of Sciences(CAS)Beijing 100190China University of Chinese Academy of Sciences Beijing 100049China

The supercritical carbon dioxide(sCO_(2))Brayton cycle system has become an emerging and highly promising method of thermal power conversion due to its efficiency advantage,system compactness,and excellent adaptability of the heat *** the low carbon sCO_(2)Brayton cycle testbed with cycle output power approaching 3 MW,a relatively detailed dynamic simulation model of the entire system is constructed to explore the dynamic response characteristics of the system with different startup strategies and different buffer tank volumes during the startup *** simulation results indicate that the smaller the volume of the buffer tank,the more rapid and obvious the parameter fluctuation in the buffer tank during the *** the allowable relative deviation limit of density is 5%,then the ratio of the buffer tank volume to the volume of the entire closed loop should not be lower than 36.80%.The strategy of simultaneous temperature and speed increase during turbine bypass start can effectively reduce the fluctuation of compressor inlet parameters and reach the steady-state more *** paper provides the recommended matching table for the opening of the turbine bypass valve(TBV)and the main regulating valve(MGV)to reduce the parameter fluctuation during the bypass *** effectiveness of the proposed turbine bypass and bypass switching startup strategy is verified by simulation,which may be used as a reference for test bench's future debugging and operation.

关键词： sCO_(2)Brayton cycle dynamic model buffer tank startup strategy dynamic characteristic

A Multi-Condition Sequential Network Ensemble for Industrial Energy Storage Prediction Considering the Condition Switching Characteristics

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IEEE/CAA Journal of Automatica Sinica 2025年第2期12卷 369-380页

作者： Tianyu wang Fan Zhou Yangjie Wu Jun zhao Wei wang IEEE the School of Control Science and Engineering Dalian University of Technology the School of Information Science and Engineering Dalian Polytechnic University

As a crucial storage and buffering apparatus for balancing the production and consumption of byproduct gases in industrial processes, accurate prediction of gas tank levels is essential for optimizing energy system scheduling. Considering that the continuous switching of the pressure and valve status(mechanism knowledge) would bring about multiple working conditions of the equipment, a multi-condition time sequential network ensembled method is proposed. In order to especially consider the time dependence of different conditions, a centralwise condition sequential network is developed, where the network branches are specially designed based on the condition switching sequences. A branch combination transfer learning strategy is developed to tackle the sample imbalance problem of different condition data. Since the condition or status data are real-time information that cannot be recognized during the prediction process, a pre-trained and ensemble learning approach is further proposed to fuse the outputs of the multi-condition networks and realize a transient-state involved prediction. The performance of the proposed method is validated on practical energy data coming from a domestic steel plant, comparing with the state-of-the-art algorithms. The results show that the proposed method can maintain a high prediction accuracy under different condition switching cases, which would provide effective guidance for the optimal scheduling of the industrial energy systems.

关键词： Ensemble learning industrial energy prediction multi-working condition structural deep network transfer learning

A non-fluorinated liquid-like membrane with excellent anti-scaling performance for membrane distillation

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Chinese Chemical Letters 2025年第1期36卷 521-528页

作者： Jianwen zhao Shuai wang Shanshan zhao Liwei Chen Fangang Meng Xuelin Tian State Key Laboratory of Optoelectronic Materials and Technologies School of Materials Science and EngineeringSun Yat-sen UniversityGuangzhou 510006China Key Laboratory for Polymeric Composite&Functional Materials of Ministry of Education Guangzhou Key Laboratory of Flexible Electronic Materials and Wearable DevicesSun Yat-sen UniversityGuangzhou 510006China Guangdong Provincial Key Laboratory of Environmental Pollution Control and Remediation Technology School of Environmental Science and EngineeringSun Yat-sen UniversityGuangzhou 510006China

Membrane distillation(MD)has gained extensive attention for treating highly saline ***,membrane scaling during the MD process has hindered the rapid development of this *** approaches to mitigate scaling in membrane distillation focus primarily on achieving enhanced hydrophobicity and even superhydrophobicity via utilizing fluorinated fibrous membrane or introducing perfluorosilane *** the environmental hazards posed by fluorinated compounds,it is highly desirable to develop non-fluorinated membranes with enhanced anti-scaling properties for effective membrane *** this study,we present a non-fluorinated liquid-like MD membrane with exceptional anti-scaling *** membrane was facilely fabricated by grafting linear polydimethylsiloxane(LPDMS)onto a hydrophilic polyether sulfone(PES)membrane pre-coated with the intermediate layers of polydopamine and silica(denoted as LPDMS-PES).Remarkably,LPDMS-PES manifested a drastically improved scaling resistance in continuous MD tests than its perfluorinated counterpart,i.e.,1H,1H,2H,2H-perfluorooctyltrichlorosilane-modified PES membrane(PFOS-PES),in both heterogeneous nucleation-dominated and crystal deposition-dominated scaling processes,despite the latter having a smaller surface ***-PES demonstrated a reduction of crystal accumulation of approximately 85%for Na Cl and 73%for Ca SO_(4) in the heterogeneous nucleation-dominated scaling process compared to ***,in the crystal deposition-dominated scaling process LPDMS-PES exhibited a reduction of about 70%in scale *** results explicitly evidenced the great potential of the liquid-like membrane to minimize scaling in membrane distillation by inhibiting both scale nucleation and adhesion onto the *** believe the findings of this study have important implications for the design of high-performance MD membranes,particularly in the quest for environmentally susta

关键词： Surface modification Liquid-like membranes Anti-scaling Non-fluorinated Direct contact membrane distillation

Design and preparation of a sintered Nd-Y-Fe-B magnet with high magnetic properties via multi-main-phase process and subsequent grain boundary diffusion

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Journal of Rare Earths 2025年第2期43卷 304-311页

作者： Fugang Chen Suxin Lu Jie wang Yong zhao Wenqiang zhao Zhi Xu School of Materials Science and Engineering Jiangsu University of Science and Technology Baotou Tianshi Rare Earth New Materials Co. Ltd. Jiangsu Yangzi Xinfu Shipbuilding Co. Ltd.

A sintered Nd-Y-Fe-B magnet was designed and manufactured by the multi-main-phase *** distributed Y in the magnet decreases the adverse magnetic weakening effect of Y on the *** boundary diffusion process（GBDP） was conducted to further enhance the coercivity of the Nd-Y-Fe-B *** coercivity increases significantly from 884 to 1741 kA/m after GBDP with *** mechanism of the coercivity enhancement is discussed based on the microstructure *** simulation reveals that when the diffused Tb-rich shell thickness is lower than 12 nm the c-plane shell（perpendicular to the c-axis） is much more effective in enhancing the coercivity than the side plane shell（parallel to the c-axis）.But when the Tb-rich shell thickness is above12 nm the side plane shell contributes more to the coercivity *** results in this work can help to design and manufacture Nd-Fe-B magnets with low cost and high magnetic properties.

关键词： Grain boundary diffusion Micromagnetic simulation Multi-main-phase process Nd-Fe-B magnets Rare earths

Optimizing cooling approach of spiral coil for an electromagnetic steel teeming system of ladle in continuous casting production

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Journal of Iron and Steel Research International 2025年第1期32卷 85-94页

作者： Ming He Qing-wei wang Li-jia zhao wang-zhong Mu Xing-an Liu Qiang wang College of Horticulture Shenyang Agricultural UniversityShenyang110866LiaoningChina Key Laboratory of Electromagnetic Processing of Materials(Ministry of Education) Northeastern UniversityShenyang110819LiaoningChina Key Laboratory of Protected Horticulture(Ministry of Education) Shenyang Agricultural UniversityShenyang110866LiaoningChina Department of Materials Science and Engineering KTH Royal Institute of TechnologyStockholm10044Sweden

To address the current issues with the conventional slide gate system utilized in the steel teeming process,a unique electromagnetic induction controlled automated steel teeming(EICAST)technology has been *** means of spiral coil in this technology is directly related to its service ***,heat transfer processes of air cooling and spray cooling were compared and ***,the impacts of water temperature,water flow rate and air flow rate were examined in order to maximize the spray cooling *** maintain coil temperature at a low value consistently throughout the entire thermal cycle process of the ladle,a combined cooling mode was finally *** simulation was applied to examine the coil temperature variation with different cooling systems and *** coil operation,spray cooling is said to be more *** controlling the water flow rate and air flow rate,the spray cooling effect is ***,water temperature has little or no impact when using spray *** cooling during the secondary refining process and spray cooling prior to coil operation are combined to further lower coil *** the direction of the spray cooling is from bottom to top,the coil temperature is lowered below 165℃.A practical induction coil cooling plan was provided for the EICAST technology’s production process.

关键词： Electromagnetic induction controlled automated steel teeming technology Spiral coil Spray cooling Heat transfer Continuous casting

Relative humidity-dependent evolution of molecular composition ofα-pinene secondary organic aerosol upon heterogeneous oxidation by hydroxyl radicals

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Journal of Environmental Sciences 2025年第2期148卷 210-220页

作者： Wei wang Chenxi Li Huayun Xiao Ziyue Li Yue zhao School of Environmental Science and Engineering Shanghai Jiao Tong UniversityShanghai 200240China

Heterogeneous oxidation by gas-phase oxidants is an important chemical transformation pathway of secondary organic aerosol(SOA)and plays an important role in controlling the abundance,properties,as well as climate and health impacts of ***,our knowledge on this heterogeneous chemistry remains *** this study,the heterogeneous oxidation ofα-pinene ozonolysis SOA by hydroxyl(OH)radicals was investigated under both low and high relative humidity(RH)conditions,with an emphasis on the evolution of molecular composition of SOA and its RH *** is found that the heterogeneous oxidation of SOA at an OH exposure level equivalent to 12 hr of atmospheric aging leads to particle mass loss of 60%at 25%RH and 95%at 90%*** heterogeneous oxidation strongly changes the molecular composition of *** dimer-to-monomer signal ratios increase dramatically with rising OH exposure,in particular under high RH conditions,suggesting that aerosol water stimulates the reaction of monomers with OH radicals more than that of *** addition,the typical SOA tracer compounds such as pinic acid,pinonic acid,hydroxy pinonic acid and dimer esters(e.g.,C17H26O8 and C19H28O7)have lifetimes of several hours against heterogeneous OH oxidation under typical atmospheric conditions,which highlights the need for the consideration of their heterogeneous loss in the estimation of monoterpene SOA concentrations using tracer-based *** study sheds lights on the heterogeneous oxidation chemistry ofmonoterpene SOA andwould help to understand their evolution and impacts in the atmosphere.

关键词： Secondary organic aerosol(SOA) Heterogeneous oxidation Chemical transformation Molecular composition Aerosol water

Optimization of transverse unidirectional scattering by morphology modification of irregular V-shaped silicon nanoantennas

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Optoelectronics Letters 2025年第3期21卷 129-135页

作者： ZENG Ming zhao Feng wang Xianghui School of Electrical and Information Engineering Tianjin University Institute of Modern Optics Tianjin Key Laboratory of Micro-scale Optical Information Science and TechnologyNankai University

A scheme based on irregular V-shaped silicon nanoantennas is proposed to optimize transverse unidirectional scattering under plane wave irradiation. Traditional methods of designing regular shapes offer fewer parameters and higher search efficiency. However, due to the limitations of regular shapes, it is challenging to meet high-precision design requirements. Irregular shape design allows for a broader range of adjustments, but the complexity of shape parameters leads to lower search efficiency and a higher likelihood of converging to local optima.

关键词： A

Characterization of combined blast-and fragments-induced synergetic damage in polyurea coated liquid-filled container

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Defence Technology(防务技术) 2025年第1期43卷 201-224页

作者： Chen Tao Chong Ji Xin wang Juan Gu Yuting wang Changxiao zhao College of Field Engineering Army Engineering University of PLANanjing210007China College of Defense Engineering Army Engineering University of PLANanjing211101China

Liquid-filled containers(LFC)are widely used to store and transport petroleum,chemical reagents,and other *** an important target of military strikes and terrorist bombings,LFC are vulnerable to blast waves and *** explore the protective effect of polyurea elastomer on LFC,the damage characteristics of polyurea coated liquid-filled container(PLFC)under the combined loading of blast shock wave and fragments were studied *** microstructure of the polyurea layer was observed by scanning electron microscopy,and the fracture and self-healing phenomena were *** simulation approach was used to explain the combined blast-and fragments-induced on the PLFC in ***,the effects of shock wave and fragment alone and in combination on the damage of PLFC were comprehensively *** showed that the polyurea reduces the perforation rate of the fragment to the LFC,and the self-healing phenomenon could also reduce the liquid loss rate inside the *** polyurea reduces the degree of depression in the center of the LFC,resulting in a decrease in the distance between adjacent fragments penetrating the LFC,and an increase in the probability of transfixion and fracture between *** the close-in blast,the detonation shock wave reached the LFC before the *** does not all have an enhanced effect on the protection of *** presence of internal water enhances the anti-blast performance of the container,and the hydrodynamic ram(HRAM)formed by the fragment impacting the water aggravated the plastic deformation of the *** combined action has an enhancement effect on the deformation of the *** depth of the container depression was 27%higher than that of the blast shock wave alone;thus,it cannot be simply summarized as linear superposition.

关键词： Polyurea Prefabricated fragment Liquid-filled container Hydrodynamic ram Cumulative effect