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Motion Planning Based Coordinated Control for Hydraulic Excavators

Chinese Journal of Mechanical Engineering 2009年第1期22卷 97-101页

作者： GAO Yingjie jin Yanchao ZHANG qin Hebei Province Key Laboratory of Fluid Power Transmission and Control Yanshan University Qinhuangdao 066004 China Eaton Hydraulics Systems （jining） Co. Ltd Jining 272023 China Department of Agricultural and Biological Engineering University of Illinois at Urbana-Champaign Urbana-Champaign IL 61801 USA

Hydraulic excavator is one type of the most widely applied construction equipment for various applications mainly because of its versatility and mobility. Among the tasks performed by a hydraulic excavator, repeatable level digging or flat surface finishing may take a large percentage. Using automated functions to perform such repeatable and tedious jobs will not only greatly increase the overall productivity but more importantly also improve the operation safety. For the purpose of investigating the technology without loss of generality, this research is conducted to create a coordinate control method for the boom, arm and bucket cylinders on a hydraulic excavator to perform accurate and effective works. On the basis of the kinematic analysis of the excavator linkage system, the tip trajectory of the end-effector can be determined in terms of three hydraulic cylinders coordinated motion with a visualized method. The coordination of those hydraulic cylinders is realized by controlling three electro-hydraulic proportional valves coordinately. Therefore, the complex control algorithm of a hydraulic excavator can be simplified into coordinated motion control of three individual systems. This coordinate control algorithm was validated on a wheeled hydraulic excavator, and the validation results indicated that this developed control method could satisfactorily accomplish the auto-digging function for level digging or flat surface finishing.

关键词： hydraulic excavator motion planning coordinated control

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Experimental investigation of the effect of Reynolds number on flow structures in the wake of a circular parachute canopy

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Acta Mechanica Sinica 2014年第3期30卷 361-369页

作者： Zhe-Yan jin Sylvio Pasqualini Bo qin School of Aerospace Engineering and Applied Mechanics Tongji University Institute of Unmanned Aircraft System Beihang University

In the present study, an experimental study was conducted to characterize the effect of Reynolds number on flow structures in the turbulent wake of a circular parachute canopy by utilizing stereoscopic particle image velocime- try （Stereo-PIV） technique. The parachute model tested in the present study was attached by 28 nylon suspension lines and placed horizontally at the test section center of the wind tunnel. The obtained results showed that with the in- crease of Reynolds number, the intensities of the vortices near the downstream region of the canopy skirt were found to increase accordingly. However, the increase of Reynolds number did not result in a significant change in ensemble- averaged normalized x-component of the velocity, ensembleaveraged normalized vorticity, normalized Reynolds stress, and normalized turbulent kinetic energy distributions in the turbulent wake of the circular parachute canopy. The obtained results are very useful to further our understanding about the unsteady aerodynamics in the wake of flexible circular parachute canopies and to constitute a reference for CFD computation.

关键词： Stereo-PIV Circular parachute - Canopy Flexible Turbulent wake

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A Simplified Parallel Two-Level Iterative Method for Simulation of Incompressible Navier-Stokes Equations

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Advances in Applied Mathematics and Mechanics 2015年第6期7卷 715-735页

作者： Yueqiang Shang jin qin School of Mathematics and Statistics Southwest UniversityChongqing 400715China School of Mathematics and Computer Science Zunyi Normal CollegeZunyi 563002China

Based on two-grid discretization,a simplified parallel iterative finite element method for the simulation of incompressible Navier-Stokes equations is developed and *** method is based on a fixed point iteration for the equations on a coarse grid,where a Stokes problem is solved at each ***,on overlapped local fine grids,corrections are calculated in parallel by solving an Oseen problem in which the fixed convection is given by the coarse grid *** bounds of the approximate solution are *** results on examples of known analytical solutions,lid-driven cavity flow and backward-facing step flow are also given to demonstrate the effectiveness of the method.

关键词： Navier-Stokes equations finite element two-level method parallel algorithm

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Kinetic model of vibration screening for granular materials based on biological neural network

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Particuology 2024年第5期88卷 98-106页

作者： Zhan Zhao Yan Zhang Fang qin Mingzhi jin School of Agricultural Engineering Jiangsu UniversityZhenjiang212013China Shandong Academy of Agricultural Machinery Sciences Ji'nan250100China

The kinetic model is the theoretical basis for optimizing the structure and operation performance of vibration screening *** this paper,a biological neurodynamic equation and neural connections were established according to the motion and interaction properties of the material under vibration *** material feeding to the screen and the material passing through apertures were considered as excitatory and inhibitory inputs,respectively,and the generated stable neural activity landscape was used to describe the material distribution on the 2D screen *** dynamic process of material vibration screening was simulated using discrete element method(DEM).By comparing the similarity between the material distribution established using biological neural network(BNN)and that obtained using DEM simulation,the optimum coefficients of BNN model under a certain screening parameter were determined,that is,one relationship between the BNN model coefficients and the screening operation parameters was *** screening parameters were randomly selected,and the corresponding relationships were established as a ***,with straw/grain ratio,aperture diameter,inclination angle,vibration strength in normal and tangential directions as inputs,five independent adaptive neuro-fuzzy inference systems(ANFIS)were established to predict the optimum BNN model coefficients,*** training results indicated that ANFIS models had good stability and *** flexibility and adaptability of the proposed BNN method was demonstrated by modeling material distribution under complex feeding conditions such as multiple regions and non-uniform rate.

关键词： Kinetic model Material distribution Vibration screening Biological neural network DEM simulation Adaptive neuro-fuzzy inference systems

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Sampling and determination of carbonyls in stack gas

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Journal of Environmental Sciences 1999年第1期11卷 52-60页

作者： dai Tian-you Wang qin-hui Wei Fu-sheng Tan Pei-gong Liu jin China National Environmental Monitoring Center Beijing 100029China qingdao Environmental Monitoring Center Qingdao 266003China

The GC determination of aldehydes and ketones in stack gas was reported. The stack gas was collected with the dust sampler by isokinetic sampling technique, 2,4 dinitrophenylhydrazine in acidic solution was used to absorb aldehydes and ketones in stack gas specifically, to form their hydrazones, which were determined by GC with a capillary column of SE 54. The GC system can separate nine hydrazones of carbonyls interested with constant recovery rates of 94%—97%, giving lowest detectable limits of 0 05—1 0 ng. The standard gas of carbonyls were determined by this method with relative errors of -5% to -10%, percent coefficients of variation within 5%, and spiking recovery rates of 93%—97%. As an application of the method, the carbonyl pollutants were determined in stack gas samples of a chemical plant.

关键词： aldehyde ketone 2 4 dinitrophenylhydrazine absorption solution stack gas gas chromatography.

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A novel graphene aerogel synthesized from cellulose with high performance for removing MB in water

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Journal of Materials Science & Technology 2020年第6期41卷 68-75页

作者： jin Li qin Wang Lei Zheng Hongbo Liu College of Material Science and Engineering Hunan University Changsha PR China

A novel graphene aerogel has been synthesized from cellulose by an easy way through sol-gel reaction and *** this route,it can be found the products have a high yield about 48%and form a specific porous networks assembled by graphene *** product sample like CGA-2,characteristic of a specific area about 1426.11 m^2/g and total pore volume about 1.02 cm^3/g,exhibits a remarkable performance for removing cationic dye like methylene blue(MB)in *** which the maximal MB adsorption capacity can be found about 610.85 mg/g in a neutral solution and 1.2 g/g in a basic *** the condition of initial MB concentration of 100 mg/L and pH of 7.0,the adsorption equilibrium can be achieved on CGA-2 in 10 min,with MB removal ratio about 99%.In the MB adsorption on CGA-2,the isotherm fits Langmuir model with correlation coefficient of 0.9905,and the kinetics follows pseudo-second-order model with correlation coefficient of 0.9999.

关键词： Graphene aerogel Synthesis Biomass precursor Function Adsorbent

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Unlocking the stable interface in aqueous zinc-ion battery with multifunctional xylose-based electrolyte additives

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Journal of Energy Chemistry 2025年第1期100卷 770-778页

作者： Xiaoqin Li Jian Xiang Lu Qiu Xiaohan Chen Yinkun Zhao Yujue Wang Qu Yue Taotao Gao Wenlong Liu Dan Xiao Zhaoyu jin Panpan Li Institute for Advanced Study Chengdu University School of Mechanical Engineering Chengdu University College of Food and Biological Engineering Chengdu University Institute of Fundamental and Frontier Sciences University of Electronic Science and Technology of China College of Materials Science and Engineering Sichuan University

The growth of dendrites and the side reactions occurring at the Zn anode pose significant challenges to the commercialization of aqueous Zn-ion batteries（AZIBs）. These challenges arise from the inherent conflict between mass transfer and electrochemical kinetics. In this study, we propose the use of a multifunctional electrolyte additive based on the xylose（Xylo） molecule to address these issues by modulating the solvation structure and electrode/electrolyte interface, thereby stabilizing the Zn anode. The introduction of the additive alters the solvation structure, creating steric hindrance that impedes charge transfer and then reduces electrochemical kinetics. Furthermore, in-situ analyses demonstrate that the reconstructed electrode/electrolyte interface facilitates stable and rapid Zn2+ion migration and suppresses corrosion and hydrogen evolution reactions. As a result, symmetric cells incorporating the Xylo additive exhibit significantly enhanced reversibility during the Zn plating/stripping process, with an impressively long lifespan of up to 1986 h, compared to cells using pure ZnSO4electrolyte. When combined with a polyaniline cathode, the full cells demonstrate improved capacity and long-term cyclic stability. This work offers an effective direction for improving the stability of Zn anode via electrolyte design, as well as highperformance AZIBs.

关键词： Solvation

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Polyoxometalates based nanocomposites for bioapplications

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Rare Metals 2023年第11期42卷 3570-3600页

作者： Yao Cheng Ke-Jie qin De-jin Zang School of Pharmacy and Pharmaceutical Sciences&Institute of Materia Medica National Key Laboratory of Advanced Drug Delivery and SystemShandong First Medical University&Shandong Academy of Medical SciencesNHC Key Laboratory of Biotechnology Drugs(Shandong Academy of Medical Sciences)Key Lab for Rare&Uncommon Diseases of Shandong ProvinceJinan250117China

Health care and medical care have always been dominant topics in human *** field of precision medicine,iatrotechnics revolution and timely on-demand detection have continued to evolve in response to increasing demands from the ***,the emergence of innovative materials and their applications offer promising prospects for advancing global ***(POMs)are negatively-charged molecular metal oxides with well-defined structures,beautiful geometries and nanoscale *** to their vast diversity in composition,structure,nuclearity and charge,they constitute a significant subcategory of inorganic clusters that contain bridging oxygen atoms between two or more metal ***,POMs based nanocomposites have been widely applied in the field of disease diagnosis,anticancer therapy and antibacterial therapy as new generation bioactive *** this review,the recent advances of POMs based nanocomposites in bioapplications are summarized and the future perspectives are discussed.

关键词： Polyoxometalates(POMs) Disease diagnosis Anticancer therapy Antibacterial therapy Biological imaging

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基于知识图谱的浙江传统制造业乡村聚落研究综述

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华中建筑 2025年第1期43卷 1-5页

作者：魏秦刘瑾周天夫上海大学上海美术学院

乡村传统制造业聚落是指乡村以某种传统加工制造作为主要生计方式,其聚落形成与发展紧密依赖制造业的生产过程而逐渐演变的传统乡村聚落。该文以分布在浙江省的传统制造业乡村聚落作为研究对象,梳理近年来传统制造业乡村聚落的研究进展... 详细信息

乡村传统制造业聚落是指乡村以某种传统加工制造作为主要生计方式,其聚落形成与发展紧密依赖制造业的生产过程而逐渐演变的传统乡村聚落。该文以分布在浙江省的传统制造业乡村聚落作为研究对象,梳理近年来传统制造业乡村聚落的研究进展,剖析现存浙江传统制造业乡村聚落的典型案例,利用CiteSpace知识图谱分析,解析传统制造业聚落研究的热点演变规律,分析其研究内容、路径与方法的差异,为传统产业聚落研究提供理论库存与趋势导引。

关键词：传统制造业乡村聚落产业类型聚落形态知识图谱

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Diversity and association analysis of important agricultural trait based on miniature inverted-repeat transposable element specific marker in Brassica napus L.

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Oil Crop Science 2021年第1期6卷 28-34页

作者： Shutao dai jinna Hou Maomao qin Ziju dai Xiaojie jin Shilei Zhao Yanhua Dong Yongxia Wang Zhengqing Wu Zhensheng Lei Institute of Cereal Crops Henan Academy of Agricultural SciencesZhengzhouChina Institute of Crops Molecular Breeding Henan Academy of Agricultural SciencesZhengzhouChina Sanmenxia Academy of Agricultural Sciences SanmenxiaChina Henan Agricultural Science and Technology Exhibition Hall ZhengzhouChina

Miniature inverted-repeat transposable elements(MITEs)are a group of DNA transposable element(TE)which preferentially distributed with gene associated *** of MITEs families have been revealed in Brassica napus genome,they scatter across the genome with tens of thousands copies and produce polymorphisms both intra-and *** previous studies revealed a Tourist-like MITE,Monkey King,associated with vernalization requirement of ***,however there are still few studies reveal MITE association with agricultural traits in *** the present study,80 polymorphic markers were developed from 55 MITEs,and used to evaluate genetic diversity in a panel of *** accessions consisting of 101 natural and 25 synthetic *** agricultural traits,oil content,glucosinolate content,erucic acid content,weight of thousand seeds(WTS)and plant height,were investigated across 3-years field experiments,in addition,two traits,hypocotyl length and root length,were evaluated at the 4-leaf stage in the *** between the MITE-based markers and seven traits were analyzed,finally,10 polymorphic markers produced by 6 pairs of MITE specific primers were revealed relatively high correlation with 5 *** polymorphic markers were anchored with two candidate genes,BnaA02g13530D and BnaA08g20010D,respectively,which may contribute to glucosinolate content and *** research may contribute to genetic improvement through utilization of MITE-induced polymorphisms in Brassica species.

关键词： Brassica napus L. Miniature inverted-repeat transposable elements Oil content Glucosinolate content Erucic acid content 1000-Seed weight Length of hypocotyl Length of root

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