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Pose Planning for the End-effector of Robot in the Welding of Intersecting Pipes

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Chinese Journal of Mechanical Engineering 2011年第2期24卷 264-270页

作者： liu yu ZHAO Jing lu Zhenyang CHEN Shujun College of Mechanical Engineering and Applied Electronics Technology Beij＇ing University of Technology Beijing 100124 China

All-position robots are widely applied in the welding of complicated *** of intersecting pipes is one of the most typical *** welding seam is a complicated saddle-like space curve,which puts a great challenge to the pose planning of *** special robots designed specifically for this kind of tasks are rare in China and lack sufficient theoretical *** this paper,a systematic research on the pose planning for the end-effectors of robot in the welding of intersecting pipes is conducted. First,the intersecting curve of pipes is mathematically *** mathematical model of the most general intersecting curve of pipes is derived,and several special forms of this model in degraded situations are also discussed.A new pose planning approach of bisecting angle in main normal plane（BAMNP） for the welding-gun is proposed by using differential geometry and the comparison with the traditional bisecting angle in axial rotation plane（BAARP） method is also analytically *** optimal pose of the welding-gun is to make the orientation posed at the center of the small space formed by the two cylinders and the intersecting curve to help the welding-pool run *** BAMNP method can make sure the pose vertical to the curve and center between the two cylinders at the same time,therefore its performance in welding-technique is superior to the BAARP *** using the traditional BAARP method,the robot structure can become simpler and easier to be controlled,because one degree of freedom（DOF） of the robot can be *** the special case of perpendicular intersecting,an index is constructed to evaluate the quality of welding technique in the process of *** effect of different combination of pipe size on this index is also *** the basis of practical consideration,selection principle for BAARP and BAMNP is *** simulations of those two methods for a serial joint-type robot are made in MATLAB,and the simulation

关键词： pose planning robot all-position welding intersecting pipes bisecting angle welding quality

Simultaneous fabrication of porous metals and metallic nanowires via atmospheric pressure plasma-assisted electro-dealloying

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Science China(Technological Sciences) 2023年第1期66卷 165-172页

作者： lu AnKang LI Hanyu yu Yao liu Lin State Key Lab for Materials Processing and Die&Mould Technology School of Materials Science and EngineeringHuazhong University of Science and TechnologyWuhan 430074China Wuhan National High Magnetic Field Center and Sechool of Physics Huazhong University of Science and TechnologyWuhan 430074China

Porous metals and metallic nanowires have gained significant attention for their potential applications in catalysis, sensing, and energy storage. Developing a versatile and efficient method for fabricating these functional materials is crucial but remains challenging. Herein, we report a novel and facile electro-dealloying strategy to simultaneously fabricate porous metals and metallic nanowires using atmospheric radio-frequency(RF) capacitively coupled plasmas. The synergistic effect of the heating and plasma sheath’s electric field lead to the nonequilibrium melting of the alloy, resulting continuous ejection of the melted segments to form nanowires and let the unmelted residual parts evolve into a porous structure. This method is applicable to alloys with large melting point differences of their constituent elements, and provides a promising approach to fabricate porous metals and metallic nanowires for a wide range of functional applications.

关键词： atmospheric plasma porous metals metallic nanowires electro-dealloying

LSTM Based Reserve Prediction for Bank Outlets

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Tsinghua Science and Technology 2019年第1期24卷 77-85页

作者： yu liu Shuting Dong Mingming lu Jianxin Wang the School of Information Science and Engineering Central South University

Reserve allocation is a significant problem faced by commercial banking businesses every day. To satisfy the cash requirement of customers and abate the vault cash pressure, commercial banks need to appropriately allocate reserves for each bank outlet. Excessive reserve would impact the revenue of bank outlets. Low reserves cannot guarantee the successful operation of bank outlets. Considering the reserve requirement is effected by the past cash balance, we deal the reserve allocation problem as a time series prediction problem, and the Long Short Time Memory(LSTM) network is adapted to solve it. In addition, the proposed LSTM prediction model regards date property, which can affect the cash balance, as a primary factor. The experiment results show that our method outperforms some existing traditional methods.

关键词： reserve prediction time series prediction Long Short Time Memory (LSTM)network date property

Simulation and characteristics analysis of a wavefield in a thermoelastic medium adopting the rotated staggered-grid pseudospectral method and L-S theory

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Science China Earth Sciences 2021年第8期64卷 1390-1408页

作者： yuanxie LI Cai liu Zhiqi GUO Yang liu Xuan feng You TIAN Qi lu College of Geo-exploration Science and Technology Jilin UniversityChangchun 130026China

The simulation of wave propagation in high-temperature media requires thermoelastic *** this paper,we apply the rotated-staggered-grid pseudo-spectral method(RSG-PSM)to solving thermoelastic governing equations based on L-S theory.A time splitting method is used to solve the stiffness problem of the equations,and we introduce the rotated staggered pseudo-spectral operator and centered pseudo-spectral operator to compute the first-order spatial derivatives and second-order spatial derivatives,*** the case of the heterogeneous-medium model,the Crank-Nicolson explicit method is used instead of the pseudo-spectral method to compute the *** properties and propagation of the thermal coupled wavefield are discussed,and we compare the simulation results obtained using the pseudo-spectral method,staggered-grid pseudo-spectral method,and *** the case of an isotropic homogeneous medium,we obtain stable and highly accurate results using the time splitting method combined with the ***,the algorithm cannot be applied with a large time step when the thermal conductivity changes dramatically,and the algorithm is unstable when the reference temperature has a gradient *** optimal combined application of the mesh generation mode and numerical algorithm is explored,laying a foundation for the extension of these methods to thermoporoelasticity,thermoviscoelasticity,and anisotropy.

关键词： Thermoelastic wave L-S theory Rotated-staggered-grid pseudo-spectral method Seismic wavefield simulation Time splitting method

THE EXTENDED JACOBIAN ELLIPTIC FUNCTION EXPANSION METHOD AND ITS APPLICATIONS IN WEAKLY NONLINEAR WAVE EQUATIONS

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Journal of Hydrodynamics 2006年第3期18卷 352-361页

作者： HUANG Wen-hua liu yu-lu lu Zhi-ming PAN Bo-ying liu Mao-sheng Shanghai Institute of Applied Mathematics and Mechanics Shanghai University Shanghai 200072 China Department of Physics College of Science Huzhou University Huzhou 313000 China Shanghai Institute of Applied Mathematics and Mechanics Shanghai University Shanghai 200072 China PAN Bo-ying Basic Department YiChun Vocational Technical College Yichun 336000 China

The extended Jacobian elliptic function expansion method is introduced and applied to solve the coupled ZK equations and the coupled KP equations describing two weakly long nonlinear wave models in fluid system. Many types of doubly periodic traveling wave solutions are obtained. Under limiting conditions these solutions are reduced into solitary wave solutions.

关键词： Jacobian elliptic function expansion method,the coupled ZK equation the coupled KP equation

Plasma-activated ethanol solution and it's decontamination effect

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High Voltage 2023年第4期8卷 833-840页

作者： YiQian Li JiaLin liu feng Zhao Ke Song LanLan Nie DaWei liu XinPei lu State Key Laboratory of Advanced Electromagnetic Engineering and Technology School of Electrical and Electronic EngineeringHuazhong University of Science and TechnologyWuhanHubeiChina Department of Thoracic Surgery Union HospitalTongji Medical CollegeHuazhong University of Science and TechnologyWuhanChina Center of Stomatology Tongji HospitalTongji Medical CollegeHuazhong University of Science and TechnologyWuhanChina

Ethanol solution as a disinfectant has been widely used in various ***,it has a significant bactericidal capability only when the volume fraction of ethanol is around 70%-75%.For such high concentration of ethanol solution,it has an irritating *** it is used for applications such as wound disinfection,it causes a stinging *** concentrations of ethanol solution are less irritating,but it is also less effective at killing *** this study,an idea for producing a green,efficient and less irritating disinfectant is *** is based on a plasma-activated low-concentration ethanol solution(PAES).It is found that the plasma-activated 10% volume fraction of ethanol solution can kill more than seven orders of magnitude of Escherichia coli,while the untreated 10% volume fraction of ethanol solution has no bactericidal ***,the PAES's activity remains unchanged after being stored at -20℃ for three *** investigation shows that new compositions including peracetic acid,peroxynitrite,hydrogen peroxide and acetic acid are detected in the PAES,which together are playing the main role of the excellent and prolonged bactericidal effect.

关键词： effect. ethanol unchanged

Cultivar-dependent rhizobacteria community and cadmium accumulation in rice: Effects on cadmium availability in soils and iron-plaque formation

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Journal of Environmental Sciences 2022年第6期34卷 90-102页

作者： feng Zhang Di Peng lu liu Huidan Jiang Lianyang Bai Longping Branch Graduate School of Hunan UniversityChangsha 410125China Biotechnology Research Institute Hunan Academy of Agricultural SciencesChangsha 410125China

The association between the rhizospheric microbial community and Cd accumulation in rice is poorly understood.A field trial was conducted to investigate the different rhizobacterial communities of two rice cultivars with high Cd accumulation(HA)and low Cd accumulation(LA)at four growth *** showed that the Cd content in the roots of the HA cultivar was 1.23-27.53 higher than that of the LA cultivar(0.08-10.5μg/plant)at four *** LA cultivar had a significantly lower Cd availability in rhizosphere and a higher quantity of iron plaque(IP)on the root surface than the HA cultivar at four *** resulted in the reduction of Cd concentration in IPs and Cd translocation from *** analysis indicated that the LA cultivar formed a distinct rhizobacterial community from the HA cultivar and had lessα-*** rhizosphere of the LA cultivar was enriched in specific bacterial taxa(e.g.,Massilia and Bacillus)involved in Cd immobilization by phosphate precipitation and IP formation by iron ***,the rhizosphere in the HA cultivar assembled abundant sulfur-oxidizing bacteria(e.g.,Sulfuricurvum)and iron reduction bacteria(Geobacter).They promoted Cd mobilization and reduced IP formation via the metal redox *** study reveals a potential approach in which specific rhizobacteria decrease or increase Cd accumulation in rice on contaminated soil and provides a new perspective for secure rice production.

关键词： Rice cultivar Cd accumulation Rhizosphere Bacterial community Iron plaque Cd availability

Research progress of carbon-based particle electrodes in three-dimensional electrode reactors for wastewater treatment

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新型炭材料(中英文) 2024年

作者： lu Hua-yu liu Wei-feng QIN Lei liu Xu-guang Institute of New Carbon Materials College of Materials Science and Engineering Taiyuan University of Technology Key Laboratory of Interface Science and Engineering in Advanced Materials (Taiyuan University of Technology) Ministry of Education Shanxi-Zheda Institute of Advanced Materials and Chemical Engineering

Three-dimensional(3D) electrode technology is a competitive water treatment technology owing to its high catalytic efficiency, low energy consumption, and promising development. The introduction of a third electrode on the basis of a 2D electrode system forms a 3D electrode system, and the introduced third electrode is also known as the particle electrode. Particle electrodes in3D electrode system are generally in the form of particles or crumbs that be filled in between the cathode and anode. The core of the3D electrode system is the particle electrode, so the selection of particle electrode materials is the focus of the research of 3D electrode technology. Carbon-based materials are widely used as particle electrodes in 3D electrode technology because of their advantages of large specific surface area, good adsorption performance, high chemical stability, and low price. In this review, the research progress of carbon-based materials as particle electrodes for degrading organic pollutants in recent years is collected, the principle of3D electrode technology is introduced, along with the classification of particle electrodes and the current research status of carbonbased particle electrodes, and the challenges and future development of carbon-based particle electrodes in wastewater treatment are summarized.

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A Direct Liquid Fuel Cell with High Power Density Using Reduced Phosphotungstic Acid as Redox Fuel

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Energy & Environmental Materials 2022年第1期5卷 278-284页

作者： Yiyang liu Ting feng Shanfu lu Haining Wang Yan Xiang Beijing Key Laboratory of Bio-inspired Energy Materials and Devices School of Space and EnvironmentBeihang UniversityBeijing 100191China School of Energy and Power Engineering Beihang UniversityBeijing 100191China

Direct liquid fuel cells(DLFCs)are proposed to address the problems of high cost and complex storage and transportation of hydrogen in traditional hydrogen-oxygen proton exchange membrane fuel ***,present fuels of organic small molecules used in DLFCs are restricted to problems of sluggish electrochemical kinetics and easily poisoning of precious metal ***,we demonstrate reduced phosphotungstic acid as a liquid fuel for DLFCs based on its advantages of high chemical and electrochemical stability,high electrochemical activity on common carbon material electrodes,and low permeability through proton exchange *** application of phosphotungstic acid fuel effectively solves the problems of high cost of anode catalysts and serious fuel permeation loss in traditional DLFCs.A phosphotungstic acid fuel cell achieves a peak power density of466 mW cm^(-2)at a cell voltage of 0.42 V and good stability at current densities in the range from 20 to 200 mA cm^(-2).

关键词： direct liquid fuel cell heteropoly acid phosphotungstic acid power density renewable fuel