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A calibration and compensation method for an industrial robot with high accuracy harmonic reducers

Science China(Technological Sciences) 2024年第3期67卷 725-739页

作者： ZHAO YiYang liu Xun CAO JiaBin liu jinyu XU Yan YAN WeiXin School of Mechanical Engineering Shanghai Jiao Tong UniversityShanghai 200240China College of Computer and Control Engineering Northeast Forestry UniversityHarbin 150040China

Industrial serial robots need high stiffness to keep absolute pose accuracy and meet the requirements in practical applications. However, the weak stiffness feature of robot joints and the payloads affected on robot end-effector, which will also increase the pose error of robot. Especially, the existing calibration methods often consider under no-payload condition without discussing the payload state. In this paper, we report a new industrial serial robot composed by a new harmonic reducer: Model-Y, based on high accuracy and high stiffness, and a kinematic parameter calibration algorithm which is based on a harmonic reducer forcedeformation model. To decrease the accuracy effects of payload, an iterative calibration method for kinematic parameters with payload situation was proposed. Simulation and experiments are conducted to verify the effectiveness of the proposed calibration method using the self-developed industrial serial robot. The results show a remarkably improved accuracy in absolute position and orientation with the robot's payload range. The position mean error has 70% decreased to 0.1 mm and the orientation mean error diminished to less than 0.01° after calibration with compensation. Additionally, online linear and circular tests are carried out to evaluate the position error of the robot during large-scale spatial and low-speed continuous movement. The accuracy is consistent with the previous calibration results, indicating the effectiveness and advantages of the proposed strategy in this article.

关键词： industrial serial robot Model-Y harmonic calibration stiffness model online compensation

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Asymptotic Behavior of Singular Solution to the k-Hessian Equation with a Matukuma-Type Source

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Wuhan University Journal of Natural Sciences 2024年第3期 242-256页

作者： liu jinyu WANG Biao CHANG Caihong College of Science Xi'an University of Science and Technology

This paper is concerned with radially positive solutions of the k-Hessian equation involving a Matukuma-type source■ x ∈ Ω, where Sk(D2（-φ）) is the k-Hessian operator, q > k > 1,λ > 0,n > 2k,k ∈ N, and Ω is a suitable bounded do-main in R~n. It turns out that there are two different types of radially positive solutions for k > 1, i.e., M-solution（singular at r = 0） and Esolution（regular at r = 0）, which is distinct from the case when k = 1. For 1 < q < [（n-2 + λ）k]（n-2k）, we apply an iterative approach to improve accuracy of asymptotic expansions of M-solution step by step to the desired extend. In contrast to the case k = 1, we require a more precise range of parameters due to repeated application of Taylor expansions, which also makes asymptotic expansions need more delicate investigation.

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A New Class of Strong Orthogonal Arrays of Strength Three

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Journal of Systems Science & Complexity 2024年第3期37卷 1233-1250页

作者： WANG Chunyan liu Min-Qian YANG jinyu Center for Applied Statistics and School of Statistics Renmin University of ChinaBeijing 100872China School of Statistics and Data Science LPMC&KLMDASRNankai UniversityTianjin 300071China

Strong orthogonal arrays(SOAs) were recently introduced and studied as a class of spacefilling designs for computer experiments. To surely realize better space-filling properties, SOAs of strength three or higher are desirable. In addition, orthogonality is also an important property for designs of computer experiments, because it guarantees that the estimates of the main effects are uncorrelated. This paper first provides a systematic study on the construction of(nearly) orthogonal strength-three SOAs with better space-filling properties. The newly proposed strength-three SOAs enjoy almost the same space-filling properties of strength-four SOAs, and can accommodate much more columns than the latter. Moreover, they are(nearly) orthogonal and flexible in run sizes. The construction methods are straightforward to implement, and their theoretical supports are well established. In addition to the theoretical results, many designs are tabulated for practical needs.

关键词： Computer experiment orthogonality space-filling property strong orthogonal array

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Designing ultrastrong and thermally stable FeCrAl alloys with the fine-grained structure

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Journal of Materials Science & Technology 2024年第4期171卷 198-208页

作者： Shuaiyang liu jinyu Zhang Hui Wang Gang liu Xiangdong Ding Jun Sun State Key Laboratory for Mechanical Behavior of Materials Xi’an Jiaotong UniversityXi’an 710049China Science and Technology on Reactor Fuel and Materials Laboratory Nuclear Power Institute of ChinaChengdu 610041China

Designing microstructurally stable FeCrAl alloys with excellent strength-ductility synergy is highly desir-able for their engineering applications.However,due to the preference nucleation of precipitates at grain boundaries(GBs),the improved precipitation strengthening of these alloys is usually accompanied by in-tergranular embrittlement.Here,we propose a novel thermomechanical processing route coupled with the Si alloying strategy via precipitation of coherent deformable Laves precipitates inside equiaxed fine-grains to achieve FeCrAl alloys with ultrahigh yield strength over∼992 MPa,excellent uniform elongation of∼7.6%at room temperature,and superior thermal stability at temperature∼1200℃.The Si alloying not only decreases the stacking fault energy of Laves precipitates favorable for their stacking-fault-mediated deformation but also hinders grain coarsening at 1200℃due to the Si-enrichment favorable for GB pin-ning effects.Our results prove the possibility of achieving the collaborative enhancement of mutually exclusive properties in alloys,such as strength-ductility-thermal stability via nanoprecipitation engineer-ing,and offer a promising route to prepare dispersion-strengthened materials.

关键词： FeCrAl alloys Si alloying Mechanical properties Thermal stability Laves phase

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Defect spinel oxides for electrocatalytic reduction reactions

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Nano Research 2024年第5期17卷 3547-3570页

作者： Zhijuan liu jinyu Guo Lu-yu liu Fen Wang Zhijie Kong Yanyong Wang Henan Key Laboratory of Crystalline Molecular Functional Materials Henan International Joint Laboratory of Tumor Theranostical Cluster MaterialsKey Laboratory of Special Environmental Functional Materials(Zhengzhou University)Ministry of EducationGreen Catalysis Centerand College of ChemistryZhengzhou UniversityZhengzhou 450001China State Key Laboratory of Chem/Bio-sensing and Chemometrics College of Chemistry and Chemical EngineeringHunan UniversityChangsha 410082China

Electrocatalytic reduction reactions play a crucial role in electrochemical energy conversion and storage technology,which are emerging technologies to ameliorate environmental problems.Spinel oxides are widely explored in electrocatalytic oxidation reactions but have a poor intrinsic ability to reduction reactions,making their electrocatalytic ability less effective.To improve this,defect engineering is a valuable method for regulating the electronic structure and coordination environment.Herein,this manuscript discusses the use of defect spinel oxides in electrocatalytic reduction reactions,including the different types of defects,construction methods,and characterization techniques.It also outlines the various applications of defect spinel oxides in different electrocatalytic reduction reactions.Finally,it goes over the challenges and future outlooks for defect spinels.This review aims to thoroughly explain how defect spinels work in electrocatalytic reduction reactions and serve as a helpful guide for creating effective electrocatalysts.

关键词： defect spinel oxides electrochemical reduction reactions electrocatalytic mechanism dynamic evolution

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A review on adhesion behavior of chip seal pavement and aggregate

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Journal of Traffic and Transportation Engineering(English Edition) 2024年第3期11卷 441-466页

作者： Yuming Zhou Zhuyi Peng jinyu Wang Jianguo Wei Hao liu Di Wang Jinming Li Key Laboratory of Road Structure and Material of Ministry of Transport (Changsha) Changsha University of Science and Technology School of Traffic and Transportation Engineering Changsha University of Science and Technology Wuhan Huike Testing Co. Ltd. Department of Civil Engineering University of Ottawa CCCC Infrastructure Maintenance Group Co. Ltd.

Chip seal is widely used for preventive maintenance to mitigate pavement deterioration,but it is prone to aggregate loss during pavement service. To further promote the development and application of chip seals in road engineering in China, the research progress of the adhesion behavior of aggregate and binder in chip seals was reviewed in this paper,focusing on the adhesion mechanism of emulsified asphalt and alkaline aggregate. The Influencing factors and evaluation methodology of chip seals' aggregate adhesion behavior were also discussed. The results demonstrate that the adhesion process between emulsified asphalt and alkaline aggregate is divided into three processes including infiltration,demulsification, and cluster, which is more complicated when compared to hot asphalt.When designing a chip seal, not only the characteristics of single material should be paid attention to, but also the combination of binder and aggregate matters a lot. To form good adhesion between aggregate and asphalt binder, various influencing factors such as material selection, design method, and construction technical index should be considered comprehensively in the whole design, construction, and operation process. Three methods for evaluating adhesion behavior are summarized, including macroscopic adhesion performance tests, image analysis technology, and model prediction. It is not objective to evaluate the aggregate adhesion behavior of chip seal only by a single evaluation method.A comprehensive evaluation based on the micro-macro multi-scale method should be considered in the future.

关键词： Chip seal Adhesion behavior Asphalt binder Aggregate

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Optical Fibre Communication Feature Analysis and Small Sample Fault Diagnosis Based on VMD-FE and Fuzzy Clustering

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Energy Engineering 2024年第1期121卷 203-219页

作者： Xiangqun Li Jiawen Liang jinyu Zhu Shengping Shi Fangyu Ding Jianpeng Sun Bo liu Gannan Power Supply Company of State Grid Gansu Electric Power Supply Company Hezuo747000China Digital Communication Department Gannan Power Supply Company of State Grid Gansu Electric Power Supply CompanyHezuo747000China

To solve the problems of a few optical fibre line fault samples and the inefficiency of manual communication optical fibre fault diagnosis,this paper proposes a communication optical fibre fault diagnosis model based on variational modal decomposition(VMD),fuzzy entropy(FE)and fuzzy clustering(FC).Firstly,based on the OTDR curve data collected in the field,VMD is used to extract the different modal components(IMF)of the original signal and calculate the fuzzy entropy(FE)values of different components to characterize the subtle differences between them.The fuzzy entropy of each curve is used as the feature vector,which in turn constructs the communication optical fibre feature vector matrix,and the fuzzy clustering algorithm is used to achieve fault diagnosis of faulty optical fibre.The VMD-FE combination can extract subtle differences in features,and the fuzzy clustering algorithm does not require sample training.The experimental results show that the model in this paper has high accuracy and is relevant to the maintenance of communication optical fibre when compared with existing feature extraction models and traditional machine learning models.

关键词： Optical fibre fault diagnosis OTDR curve variational mode decomposition fuzzy entropy fuzzy clustering

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Enhancement of CH_(3)CO^(*) adsorption by editing d-orbital states of Pd to boost C–C bond cleavage of ethanol eletrooxidation

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Science China Chemistry 2024年第2期67卷 696-704页

作者： Yuchen Qin Fengqi Wang Pei liu jinyu Ye Qian Wang Yao Wang Guangce Jiang Lijie liu Pengfang Zhang Xiaobiao liu Xin Zheng Yunlai Ren Junjun Li Zhicheng Zhang College of Sciences Henan Agricultural UniversityZhengzhou450000China Tianjin Key Laboratory of Molecular Optoelectronic Sciences Department of ChemistrySchool of ScienceTianjin University&Collaborative Innovation Center of Chemical Science and EngineeringTianjin300072China College of Chemistry and Chemical Engineering Xiamen UniversityXiamen361005China Department of Analysis Sinopec Engineering Group Luoyang R&D Center of TechnologyLuoyang471000China School of Chemical and Material Engineering Jiangnan UniversityWuxi214211China Shandong Provincial Key Laboratory of Chemical Energy Storage and Novel Cell Technology Liaocheng UniversityLiaocheng252000China

Improving the complete ethanol electrooxidation on Pd-based catalysts in alkaline media has drawn widely attention due to the high mass energy density.However,the weak adsorption energy of CH_(3)CO^(*) on Pd restricts the C–C bond cleavage.Inspired by the molecular orbital theory,we proposed the d-state-editing strategy to construct more unoccupied d-states of Pd for the enhanced interaction with CH_(3)CO^(*) to break C–C bonds.As expected,the reduced number of e_g electrons and more unoccupied d-states of Pd successfully formed on as-prepared porous Rh Au–Pd Cu nanosheets(PNSs).Theoretical calculations show that the optimized d-states of Rh Au–Pd Cu PNS can effectively improve the adsorption of CH_(3)CO^(*) and drastically reduce the energy barrier of C–C bond cleavage,thus boosting the complete oxidation of ethanol.The charge ratio of C_1 pathway on Rh Au–Pd Cu PNSs is 51.5%,more than 2 times higher than that of Pd NSs.Our finding provides an innovative perspective for the design of highly-efficient noble-based electrocatalysts.

关键词： C–C bond cleavage CH_(3)CO^(*)adsorption unoccupied d-states ethanol oxidation reaction RhAu–PdCu porous nanosheets

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Upconversion fluorescence modulation of CaTiO_(3):Yb^(3+)/Er^(3+)nanocubes via Zn^(2+)introduction

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Optoelectronics Letters 2022年第3期18卷 129-134页

作者： MU Jiajia liu jinyu GAO Lili School of Science Beihua UniversityJilin 132013China

To investigate the effect of Zn^(2+)ions on the luminescence properties of rare earth(RE)doped calcium titanate materials,CaTiO_(3):Yb^(3+)/Er^(3+)/Zn^(2+)nanocubes with uniform size were prepared by solvothermal method in this paper.They were respectively characterized by X-ray diffractometer(XRD),scanning electron microscope(SEM),photoluminescence(PL)spectroscopy and their fluorescence lifetimes.The results show that the average size of the nanocubes is about 550 nm×650 nm×850 nm with good upconversion luminescence(UCL)properties.Under 980 nm laser excitation,the effects of the ratio between activator Er^(3+)and sensitizer Yb^(3+)and Zn^(2+)doping on the upconversion fluorescence properties were investigated,and the optimal ion ratio was obtained.The results of steady-state spectra show that the strongest fluorescence intensity of CaTiO_(3):Yb^(3+)/Er^(3+)was obtained with the addition of 10 mol%Zn^(2+)at a Yb^(3+)/Er^(3+)molar doping ratio of 3:0.3,which was attributed to the crystal field asymmetry generated by the introduction of Zn^(2+)ions.The energy transfer and upconversion mechanism between Yb^(3+)and Er^(3+)ions in CaTiO_(3) nanocubes were investigated by analyzing the upconversion fluorescence kinetics.

关键词： properties kinetics doping

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Experimental and Theoretical Study on Thermal Stability of Mixture R1234ze(E)/R32 in Organic Rankine Cycle

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Journal of Thermal Science 2023年第4期32卷 1595-1613页

作者： liu jinyu liu Yu liu Chao XIN Liyong YU Wei Key Laboratory of Low-Grade Energy Utilization Technologies and Systems Ministry of EducationSchool of Energy and Power EngineeringChongqing UniversityChongqing400030China

The use of Organic Rankine Cycle(ORC)for renewable energy utilization and industrial waste heat recovery is currently attracting growing attention.The working fluids in ORC may face thermally decompose during the working process.The thermal stability and pyrolysis mechanism of R1234ze(E)/R32 mixtures was studied by ReaxFF-MD simulations and DFT calculation.The experimental results indicated that the pyrolysis temperature range is 230℃-250℃ for R1234ze(E),270℃-290℃ for R32 and 230℃-250℃ for R1234ze(E)/R32 mixtures.The cleavage of C-H,C-C bond is the main decomposition pathway of pure R32,R1234ze(E),respectively.The decomposition rate of R32 is significantly slower than that of R1234ze(E).In the mixture R1234ze(E)/R32,R1234ze(E)can significantly promote the decomposition of R32,while R32 has a slight inhibitory effect on the decomposition of R1234ze(E).The CF3 radicals generated by the decomposition of R1234ze(E)significantly reduced the energy barrier of R32 decomposition and promoted the decomposition rate of R32.The H and F radical in the system is more inclined to react with R32 than R1234ze(E)due to their lower energy barrier.The increase of the pressure and mass ratio of R1234ze(E)in the mixture system has a great promoting effect on the pyrolysis of the mixtures.

关键词： R1234ze(E)/R32 pyrolysis ReaxFF-MD DFT

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