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Development of underwater electric manipulator based on interventional autonomous underwater vehicle (AUV)

Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2024年第3期25卷 238-250页

作者： Xiaohui HU Jiawang CHEN Hang ZHOU Ziqiang ren Ocean cllege Zhejiang UniversityZhoushan 316021China Hainan Institute Zhejiang UniversitySanya 572025China The Engineering Research Center of Oceanic Sensing Technology and Equipment Ministry of EducationZhoushan 316021China

In applications such as marine rescue,marine science,archaeology,and offshore industries,autonomous underwater vehicles(AUVs)are frequently used for survey missions and monitoring tasks,with most operations being performed by manned submersibles or remotely operated vehicles(ROVs)equipped with robotic arms,as they can be operated remotely for days without ***,they require expensive marine vessels and specialist pilots to operate *** exploring oceans are no longer satisfied with the use of manned submersibles and *** is a growing desire for seabed exploration to be performed using smarter,more flexible,and automated *** improving the field operation and intervention capability of AUVs,large-scale and long-range seafloor exploration and sampling can be performed without the support of a mother ship,making it a more effective,economical,convenient,and rapid means of seafloor exploration and sampling operations,and playing a critical role in marine resource *** this study,we explored the integration technology of underwater electric robotic arms and AUVs and designed a new set of electric manipulators suitable for water depths greater than 500 *** reliability of the key components was analyzed by finite element analysis and,based on the theory of robot kinematics and dynamics,simulations were performed to verify the reliability of the key *** were conducted on land and underwater,trajectory tracking experiments were completed,and the experimental data in air and water were compared and ***,the objectives for further research on the autonomous control of the manipulator underwater were proposed.

关键词： Underwater electric manipulator Inverse kinematics Trajectory planning Trajectory tracking accuracy

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Study on the mechanism and reaction characteristics of metal-supported phosphogypsum as oxygen carrier in a chemical looping gasification application

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Journal of Environmental Sciences 2024年第4期138卷 428-438页

作者： Jing Yang Yujie ren Shuoyu Chen Jinsuo Lu School of Environmental and Municipal Engineering Xi’an University of Architecture and TechnologyXi’an 710055China

This study aimed to explore the chemical looping gasification(CLG)reaction characteristics of the metal-supported composite phosphogypsum(PG)oxygen carriers(OCs)and the thermodynamic *** FactSage 7.1 thermodynamic simulation was used to explore the oxygen release and H_(2)S removal *** experimental results showed that the syngas yield of CLG with PG-CuFe_(2)O_(4)was more than that with PG-Fe_(2)O_(3)20/CuO40 or PG-Fe_(2)O_(3)30/CuO30 OC at 1023 K when the water vapor content was ***,the maximum syngas yield of the CO selectivity was 70.3% and of the CO_(2)selectivity was 23.8%.The H_(2)/CO value was 0.78,and the highest carbon conversion efficiency was 91.9% in PG-CuFe_(2)O_(4)at the gasification temperature of 1073 *** metal-supported PG composite oxygen carrier was proved not only as an oxygen carrier to participate in the preparation of syngas but also as a catalyst to catalyze coal gasification ***,both the experimental results and FactSage 7.1 thermodynamic analysis revealed that the trapping mechanism of H_(2)S by composite OCs was as follows:CuO first lost lattice oxygen as an oxygen carrier to generate Cu_(2)O,which,in turn,reacted with H_(2)S to generate Cu_(2)*** study provided efficient guidance and reference for OC design in CLG.

关键词： Metal-supported composite phosphogypsum Reaction characteristics Thermodynamic mechanism Chemical looping gasification

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Snap-through behaviors and nonlinear vibrations of a bistable composite laminated cantilever shell:an experimental and numerical study

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Applied Mathematics and Mechanics(English Edition) 2024年第5期45卷 779-794页

作者： Lele ren Wei ZHANG Ting DONG Yufei ZHANG State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghai 200240China Department of Mechanics Guangxi UniversityNanning 530004China Beijing Key Laboratory of Nonlinear Vibrations and Strength of Mechanical Structures College of Mechanical EngineeringBeijing University of TechnologyBeijing 100124China School of Mechanical Engineering Beijing Institute of TechnologyBeijing 100081China

The snap-through behaviors and nonlinear vibrations are investigated for a bistable composite laminated cantilever shell subjected to transversal foundation excitation based on experimental and theoretical *** improved experimental specimen is designed in order to satisfy the cantilever support boundary condition,which is composed of an asymmetric region and a symmetric *** symmetric region of the experimental specimen is entirely clamped,which is rigidly connected to an electromagnetic shaker,while the asymmetric region remains free of *** motion paths are realized for the bistable cantilever shell by changing the input signal levels of the electromagnetic shaker,and the displacement responses of the shell are collected by the laser displacement *** numerical simulation is conducted based on the established theoretical model of the bistable composite laminated cantilever shell,and an off-axis three-dimensional dynamic snap-through domain is *** numerical solutions are in good agreement with the experimental *** nonlinear stiffness characteristics,dynamic snap-through domain,and chaos and bifurcation behaviors of the shell are quantitatively *** to the asymmetry of the boundary condition and the shell,the upper stable-state of the shell exhibits an obvious soft spring stiffness characteristic,and the lower stable-state shows a linear stiffness characteristic of the shell.

关键词： bistable composite laminated cantilever shell snap-through behavior nonlinear vibration nonlinear stiffness characteristic chaos and bifurcation

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Capturability-based Fuzzy Footstep Planner for a Biped Robot with Centroidal Compliance

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Journal of Bionic Engineering 2024年第1期21卷 84-100页

作者： Zihan Xu Qin Fang Yong ren Chengju Liu Robot and Artificial Intelligence Lab(RAIL) College of Electronic and Information EngineeringTongji UniversityShanghai 201804China Applied Technology College Soochow UniversitySuzhou 215000China

Compliance motion and footstep adjustment are active balance control strategies from learning human subconscious *** force estimation without direct end-actuator force measurement and the optimal footsteps based on complex analytical calculation are still challenging tasks for elementary and kid-size position-controlled *** this paper,an online compliant controller with Gravity Projection Observer(GPO),which can express the external force condition of perturbations by the estimated Projection of Gravity(PoG)with estimation covariance,is proposed for the realization of disturbance absorption,with which the robustness of the humanoid contact with environments can be *** fuzzy footstep planner based on capturability analysis is proposed,and the Model Predictive Control(MPC)is applied to generate the desired *** fuzzification rules are well-designed and give the corresponding control output responding to complex and changeable external *** validate the presented methods,a series of experiments on a real humanoid robot are *** results verify the effectiveness of the proposed balance control framework.

关键词： Biped walking Centroidal compliance Gravity projection observer Fuzzy footstep planner

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Multi-physics multi-scale simulation of unique equiaxed-to-columnar-to-equiaxed transition during the whole solidification process of Al-Li alloy laser welding

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Journal of Materials Science & Technology 2024年第4期171卷 235-251页

作者： Chu Han Ping Jiang Shaoning Geng Liangyuan ren School of Mechanical Science and Engineering Huazhong University of Science&Technology(HUST)Wuhan430074China

In this study,a novel multi-physics multi-scale model with the dilute multicomponent phase-field method in three-dimensional(3D)space was developed to investigate the complex microstructure evolu-tion in the molten pool during laser welding of Al-Li *** accurately compute mass data within both two and three-dimensional computational domains,three efficient computing methods,including central processing unit parallel computing,adaptive mesh refinement,and moving-frame algorithm,were *** was placed on the distinctive equiaxed-to-columnar-to-equiaxed transition phenomenon that occurs during the entire solidification process of Al-Li alloy laser *** results indi-cated that the growth distance of columnar grains that epitaxially grew from the base metal(BM)de-creased as the nucleation rate *** the nucleation rate increased,the morphology of the newly formed grains near the fusion boundary(FB)changed from columnar to equiaxed,and newly formed equiaxed grains changed from having high-order dendrites to no obvious dendrite *** the nucleation rate was sufficiently high,non-dendritic equiaxed grains could directly form near the FB,and there was nearly no epitaxial growth from the ***,simulation results illustrated the com-petition among multiple grains with varying orientations that grow in 3D space near the ***,how equiaxed grain bands develop was *** equiaxed band not only hindered the growth of early columnar grains but also some of its grains could grow epitaxially to form new columnar *** predicted results were in good agreement with experimental measurements and observations.

关键词： Laser welding Al-Li alloy Equiaxed-to-columnar-to-equiaxed transition Multi-physics multi-scale model Multicomponent alloys 3D phase-field model

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Characterization and identification towards dynamic-based electrical modeling of lithium-ion batteries

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Journal of Energy Chemistry 2024年第5期92卷 738-758页

作者： Chuanxin Fan Kailong Liu Yaxing ren Qiao Peng School of Automation Nanjing Institute of TechnologyNanjing 211167JiangsuChina School of Control Science and Engineering Shandong UniversityJinan 250100ShandongChina School of Engineering University of LincolnLincoln LN67TSUK Information Technology Analytics&Operations GroupQueen’s University BelfastBelfast BT95EEUK

Lithium-ion batteries are widely recognized as a crucial enabling technology for the advancement of electric vehicles and energy storage systems in the *** design of battery state estimation and control algorithms in battery management systems is usually based on battery models,which interpret crucial battery dynamics through the utilization of mathematical ***,the investigation of battery dynamics with the purpose of battery system identification has garnered considerable attention in the realm of battery *** methods in terms of linear and nonlinear response of lithium-ion batteries have emerged as a prominent area of study in this *** review has undertaken an analysis and discussion of characterization methods,with a particular focus on the motivation of battery system ***,this work encompasses the incorporation of frequency domain nonlinear characterization methods and dynamics-based battery electrical *** aim of this study is to establish a connection between the characterization and identification of battery systems for researchers and engineers specialized in the field of batteries,with the intention of promoting the advancement of efficient battery technology for real-world applications.

关键词： Lithium-ion battery Battery dynamics Nonlinear characterization Nonlinear battery model

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Preparation of K-doped g-C_(3)N_(4) composite loaded on magnetic attapulgite and its degradation performance for malachite green

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Chinese Journal of Chemical Engineering 2024年第7期71卷 110-121页

作者： Aishun Ma Hanlin Qian Hongxia Liu Sili ren Jiangxi Key Laboratory of Mining&Metallurgy Environmental Pollution Control Jiangxi University of Science and TechnologyGanzhou 341000China Jiangxi Provincial Key Laboratory of Low-Carbon Processing and Utilization of Strategic Metal Mineral Resources Jiangxi University of Science and TechnologyGanzhou 341000China

Visible-light-driven photocatalysis is a promising technology for the treatment of dye *** this work,a novel photocatalyst of K-doped g-C_(3)N_(4) loaded on magnetic attapulgite(ATP)(Kω-g-C_(3)N_(4)@ATP-Fe_(3)O_(4))with excellent visible light photocatalytic properties and stability were successfully prepared and *** removal efficiency of Kω-g-C_(3)N_(4)@ATP-Fe_(3)O_(4) for malachite green(MG)was studied,and the degradation mechanism was analyzed and *** was found that the K_(5)-g-C_(3)N_(4)@ATP-Fe_(3)O_(4) photocatalyst possessed excellent degradation efficiency of over 98.0%for the MG dye wastewater under optimal ***,the K_(5)-g-C_(3)N_(4)@ATP-Fe_(3)O_(4) materials possessed good recyclability with a removal rate over 82%after 4 *** visible light condition,the K_(5)-g-C_(3)N_(4)@ATP-Fe_(3)O_(4) photocatalyst produce radicals of·OH and O_(2)^(-)to degrade the MG dyes,which was supported by electron paramagnetic resonance(EPR)and radical trapping *** addition,the LC-MS analysis interpreted the degradation pathways and intermediates of MG in the *** findings in this work indicate that the prepared photocatalytic material has excellent degradation efficiency for MG and can be applied in dye wastewater treatment.

关键词： Photocatalyst Malachite green K-doped g-C_(3)N_(4) Degradation

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Fault diagnosis of HVAC system with imbalanced data using multi-scale convolution composite neural network

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Building Simulation 2024年第3期17卷 371-386页

作者： Rouhui Wu Yizhu ren Mengying Tan Lei Nie School of Mechanical Engineering Hubei University of TechnologyWuhan430068China Industrial Research Institute of Xiangyang Hubei University of Technology Xiangyang441100China

Accurate fault diagnosis of heating,ventilation,and air conditioning(HVAC)systems is of significant importance for maintaining normal operation,reducing energy consumption,and minimizing maintenance ***,in practical applications,it is challenging to obtain sufficient fault data for HVAC systems,leading to imbalanced data,where the number of fault samples is much smaller than that of normal ***,most existing HVAC system fault diagnosis methods heavily rely on balanced training sets to achieve high fault diagnosis ***,to address this issue,a composite neural network fault diagnosis model is proposed,which combines SMOTETomek,multi-scale one-dimensional convolutional neural networks(M1DCNN),and support vector machine(SVM).This method first utilizes SMOTETomek to augment the minority class samples in the imbalanced dataset,achieving a balanced number of faulty and normal ***,it employs the M1DCNN model to extract feature information from the augmented ***,it replaces the original Softmax classifier with an SVM classifier for classification,thus enhancing the fault diagnosis *** the SMOTETomek-M1DCNN-SVM method,we conducted fault diagnosis validation on both the ASHRAE RP-1043 dataset and experimental dataset with an imbalance ratio of 1:*** results demonstrate the superiority of this approach,providing a novel and promising solution for intelligent building management,with accuracy and F1 scores of 98.45%and 100%for the RP-1043 dataset and experimental dataset,respectively.

关键词： fault diagnosis chiller imbalanced data SMOTETomek multi-scale neural networks

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Conceptual design and control method for a noncontact annular electromagnetic stabilized satellite platform

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Chinese Journal of Aeronautics 2024年第1期37卷 256-270页

作者： He LIAO Daixin WANG Yuan ren Weijie WANG Institute of Astronautics Nanjing University of Aeronautics and AstronauticsNanjing 211106China Department of Basic Course Space Engineering UniversityHuairou DistrictBeijing 101416China

Disturbance-Free Payload(DFP)spacecraft can meet the requirements of ultra-high attitude pointing accuracy and stability for future space ***,as the main control actuators of DFP spacecraft,Linear Non-Contact Lorentz Actuators(LNCLAs)have control output problems with six-degree-of-freedom coupling and nonlinear effects,which will affect the attitude control performance of DFP *** solve this problem,a novel concept for Non-Contact Annular Electromagnetic Stabilized Satellite Platform(NCAESSP)is proposed in this *** concept is centered on replacing the LNCLAs with a non-contact annular electromagnetic actuator to solve the two problems mentioned ***,for the different control requirements of the payload module and the support module of the NCAESSP,a high-precision attitude controller based on the robust model matching method and a dual quaternion-based adaptive sliding mode controller are ***,the simulation results verify the feasibility and effectiveness of the proposed approach.

关键词： Disturbance-free payload Robust model matching Dual quaternion Sliding mode control Collision avoidance

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Exogeneous metal ions as therapeutic agents in cardiovascular disease and their delivery strategies

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Regenerative Biomaterials 2024年第2期3卷 1-16页

作者： Xiaoqian Hong Geer Tian Yang Zhu Tanchen ren Department of Cardiology of the Second Affliated Hospital and State Key Laboratory of Transvascular Implantation Devices Cardiovascular Key Laboratory of Zhejiang ProvinceZhejiang University School of MedicineHangzhou 310o09China Binjiang Institute of Zhejiang University Hangzhou 310053China MOE Key Laboratory of Macromolecular Synthesis and Functionalization Department of Polymer Science and EngineeringZhejiang UniversityHangzhou 310027China

Metal ions participate in many metabolic processes in the human body,and their homeostasis is crucial for *** cardiovascular diseases(CVDs),the equilibriums of metal ions are frequently interrupted,which are related to a variety of disturbances of physiological processes leading to abnormal cardiac *** supplement of metal ions has the potential to work as therapeutic strategies for the treatment of *** with other therapeutic drugs,metal ions possess broad availability,good stability and safety and diverse drug delivery *** delivery strategies of metal ions are important to exert their ther-apeutic effects and reduce the potential toxic side effects for cardiovascular applications,which are also receiving increasing *** local delivery strategies for metal ions based on various biomaterials are constantly being *** this review,we comprehensively summarized the positive roles of metal ions in the treatment of cVDs from three aspects:protecting cells from oxidative stress,inducing angiogenesis,and adjusting the functions of ion *** addition,we introduced the transferability of metal ions in vascular reconstruction and cardiac tissue repair,as well as the currently available engineered strategies for the precise delivery of metal ions,such as integrated with nanoparticles,hydrogels and scaffolds.

关键词： metal ions cardiovascular disease tissue engineering oxidative stress angiogenesis ion channel

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