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Singularity analysis and avoidance for an SSRMS-type reconfigurable space manipulator with a non-spherical wrist and two lockable passive telescopic links

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Chinese Journal of Aeronautics 2024年第8期37卷 435-459页

作者： Zhiyuan ZHAO Xiaohang YANG Yuntao LI Zichun XU Jingdong ZHAO Hong LIU state key laboratory of Robotics and system Harbin Institute of TechnologyHarbin 150001China

This study focuses on addressing kinematic singularity analysis and avoidance issues for a space station remote manipulator system(SSRMS)-type reconfigurable space *** manipulator is equipped with a non-spherical wrist and two lockable passive telescopic links(LPTLs),which enable it to have both active revolute and passive prismatic joints and operate in two distinct *** begin with the kinematic singularity analysis,the study derives the differential kinematic equations for the manipulator and identifies the dominant Jacobian matrix that causes ***,an in-depth analysis of singularities from multiple perspectives is ***,a kinematic singularity map method is proposed to capture the distribution of singularities within the reachable ***,the influence of the two LPTLs on singularities is thoroughly ***,a new method based on the matrix rank equivalence principle is introduced to determine singularity conditions,enabling the identification of all the singular configurations for the SSRMS-type reconfigurable ***,this method significantly reduces computational complexity,and the singularity conditions obtained have more concise *** the singularity avoidance problem,a novel method is developed,which simultaneously addresses the requirements of real-time performance,high precision,and the avoidance of both kinematic singularities and joint limit *** from these excellent properties,the proposed method can effectively resolve the singularity issues encountered separately by the SSRMS-type reconfigurable manipulator in its two operational *** typical simulations validate the utility of all the proposed methods.

关键词： Reconfigurable space manipulator Redundant manipulator Kinematics Singularity analysis Singularity avoidance

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On the Polygonal Wear Evolution of Heavy-Haul Locomotive Wheels due to Wheel/Rail Flexibility and Its Mitigation Measures

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Chinese Journal of Mechanical Engineering 2024年第1期37卷 40-61页

作者： Yunfan Yang Feifan Chai Pengfei Liu Liang Ling Kaiyun Wang Wanming Zhai state key laboratory of Mechanical Behavior and system Safety of Traffic Engineering Structures Shijiazhuang Tiedao UniversityShijiazhuang 050043China state key laboratory of Rail Transit Vehicle system Southwest Jiaotong UniversityChengdu 610031China

Wheel polygonal wear can immensely worsen wheel/rail interactions and vibration performances of the train and track,and ultimately,lead to the shortening of service life of railway *** present,wheel/rail medium-or high-frequency frictional interactions are perceived as an essential reason of the high-order polygonal wear of railway wheels,which are potentially resulted by the flexible deformations of the train/track system or other external *** this work,the effect of wheel/rail flexibility on polygonal wear evolution of heavy-haul locomotive wheels is explored with aid of the long-term wheel polygonal wear evolution simulations,in which different flexible modeling of the heavy-haul wheel/rail coupled system is ***,the mitigation measures for the polygonal wear of heavy-haul locomotive wheels are *** results point out that the evolution of polygonal wear of heavy-haul locomotive wheels can be veritably simulated with consideration of the flexible effect of both wheelset and *** of mixed-line operation of heavy-haul trains and application of multicut wheel re-profiling can effectively reduce the development of wheel polygonal *** research can provide a deep-going understanding of polygonal wear evolution mechanism of heavy-haul locomotive wheels and its mitigation measures.

关键词： Heavy-haul locomotive Wheel polygonal wear Wheel/rail flexibility Long-term polygonal wear evolution Mitigation measures

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Influence of vibration on the lubrication effect of a splash-lubricated gearbox

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2024年第4期25卷 324-339页

作者： Yi LIU Kailin ZHANG Shuai SHAO Hongxu XIANG Zhijian YE state key laboratory of Rail Transit Vehicle system Southwest Jiaotong UniversityChengdu 610031China

In this study,we investigate the effect of rail vibrations on the lubrication and efficiency of a splash-lubricated gearbox;specifically,the gearbox of a rail-transit vehicle.A high-fidelity 3D numerical model of the gearbox in a moving reference system is described,as well as computational fluid dynamics(CFD)simulations of the gearbox with different vibration *** effects of rotational speed,oil-immersion depth,and different oil-injection volume rates on lubrication and efficiency are *** propose a method of evaluating the internal lubrication condition of a splash-lubricated gearbox and quantitatively compare the effects of different operating parameters on lubrication and ***,our experiment to verify the feasibility of the simulation method is *** results show that with vibration,the churning loss and oil supply for the bearings are significantly higher than those under static *** addition,among different vibrational directions,lateral vibration has the greatest influence on the lubrication condition and efficiency of the *** the studied railway-vehicle gearbox,the best lubrication condition is achieved at a rotational speed of 1600 r/min and an oil-immersion depth of two times the tooth height(***).Rotational speed is the operating parameter that has the most significant effect on the lubrication and efficiencyofthegearbox.

关键词： Comprehensive lubrication evaluation Churning loss Moving reference system Splash lubrication Vibrational excitation Gearbox

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Dynamics modeling and electromechanical coupling characteristics analysis of cage induction motors

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Science China(Technological Sciences) 2024年第3期67卷 709-724页

作者： ZHOU ZiWei CHEN ZaiGang ZHAI WanMing state key laboratory of Rail Transit Vehicle system Southwest Jiaotong UniversityChengdu 610031China

Induction motors, as typical electromechanical energy conversion devices, have received limited attention in previous studies on electromechanical coupling vibrations, precise modeling, and the use of electromechanical coupling effects for fault diagnosis and condition assessment in motor drive systems. This study proposes a comprehensive model of cage induction motors that integrates the multiple coupled circuit model with a rotor-bearing dynamics model. The model accounts for the linear increase in the magnetomotive force across the slot and incorporates the skidding characteristics of bearings in the rotor-bearing system. By calculating the time-varying mutual inductance parameters based on the air-gap distribution in the vibration environment, the electromechanical coupling vibration of the cage motor is investigated. Furthermore, this study examines the electromechanical coupling vibration characteristics influenced by various factors, including bearing clearances, radial loads, and the vertical excitation frequencies of the stators. The results show that the proposed model improves the excitation inputs for the electrical and mechanical systems of the motor compared with conventional models. Increased bearing clearance and radial load affect the current and torque similarly but have opposite effects on the slip ratio. This study provides a deeper understanding of electromechanical coupling mechanisms and facilitates the use of such phenomena for fault diagnosis and condition assessment in motor-driven systems.

关键词： cage induction motors rotor-bearing dynamics mutual inductance electromechanical testing current signal analysis

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Security-constrained Transmission Maintenance Optimization Considering Generation and Operational Risk Costs

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Journal of Modern Power systems and Clean Energy 2024年第3期12卷 767-781页

作者： Dan Xu Zhi Cai Qian Cheng Guodong Huang Jingyang Zhou Junjie Tang Beijing key laboratory of Research and system Evaluation of Power Dispatching Automation Technology China Electric Power Research Institute state key laboratory of Power Transmission Equipment & system Security and New Technology Chongqing University

With the large-scale integration of renewable energy, the traditional maintenance arrangement during the load valley period cannot satisfy the transmission demand of renewable energy generation. Simultaneously, in a market-oriented operation mode, the power dispatching control center aims to reduce the overall power purchase cost while ensuring the security of the power system. Therefore, a security-constrained transmission maintenance optimization model considering generation and operational risk costs is proposed herein. This model is built on double-layer optimization framework, where the upper-layer model is used for maintenance and generation planning, and the lowerlayer model is primarily used to address the operational security risk arising from the random prediction error and N-1 transmission failure. Correspondingly, a generation-maintenance iterative algorithm based on a defined cost feedback is included to increase solution efficiency. Generation cost is determined using long-term security-constrained unit commitment, and the operational risk cost is obtained using a double-layer N-1 risk assessment model. An electrical correlation coupling coefficient is proposed for the solution process to avoid maintenance of associated equipment simultaneously, thereby improving model convergence efficiency. The IEEE 118-bus system is used as a test case for illustration, and test results suggest that the proposed model and algorithm can reduce the total cost of transmission maintenance and system operation while effectively improving the solution efficiency of the joint optimization model.

关键词： Maintenance engineering Costs Optimization Power systems Renewable energy sources Power grids Load modeling

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A versatile humanoid robot platform for dexterous manipulation and human-robot collaboration

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CAAI Transactions on Intelligence Technology 2024年第2期9卷 526-540页

作者： Xin Shu Fenglei Ni Xinyang Fan Shuai Yang Changyuan Liu Baoxu Tu Yiwei Liu Hong Liu state key laboratory of Robotics and system Harbin Institute of TechnologyHarbinChina

Humanoid robots have attracted much attention by virtue of their compatibility with human ***,biped humanoids with immense promise still cannot function steadily and reliably in real-world settings in the current ***,rationally combining a humanoid robot with different stable mobile platforms is a favoured solution for diverse ***,a new versatile humanoid robot platform,aiming to provide a generic solution that can be flexibly deployed in diverse scenarios,for example,indoors and fields is *** humanoid robot platform incorporates multimodal perception,and extensible interfaces on hardware and software,allowing it to be rapidly integrated with different mobile platforms and end-effectors,only through easyto-assemble ***,the platform has achieved impressive integration,lightness,dexterity,and strength in its class,with human-like size and rich perception,targeted to have human-intelligent manipulation skills for human-engineered ***,this article elaborates on the reasoning behind the design choices,and outlines each ***,the essential performance of the platform is successfully demonstrated in a set of experiments with precise and dexterous manipulation,and human–robot collaboration requirements.

关键词： intelligent robots robotics

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Multi-area Frequency-constrained Unit Commitment for Power systems with High Penetration of Renewable Energy Sources and Induction Machine Load

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Journal of Modern Power systems and Clean Energy 2024年第3期12卷 754-766页

作者： Leibao Wang Hui Fan Jifeng Liang Longxun Xu Tiecheng Li Peng Luo Bo Hu Kaigui Xie the state Grid Hebei Electric Power Research Institute state key laboratory of Power Transmission Equipment & system Security and New Technology Chongqing University

The increasing penetration of renewable energy sources(RESs) brings great challenges to the frequency security of power systems. The traditional frequency-constrained unit commitment(FCUC) analyzes frequency by simplifying the average system frequency and ignoring numerous induction machines(IMs) in load, which may underestimate the risk and increase the operational cost. In this paper, we consider a multiarea frequency response(MAFR) model to capture the frequency dynamics in the unit scheduling problem, in which regional frequency security and the inertia of IM load are modeled with high-dimension differential algebraic equations. A multi-area FCUC(MFCUC) is formulated as mixed-integer nonlinear programming(MINLP) on the basis of the MAFR model. Then, we develop a multi-direction decomposition algorithm to solve the MFCUC efficiently. The original MINLP is decomposed into a master problem and subproblems. The subproblems check the nonlinear frequency dynamics and generate linear optimization cuts for the master problem to improve the frequency security in its optimal solution. Case studies on the modified IEEE 39-bus system and IEEE 118-bus system show a great reduction in operational costs. Moreover, simulation results verify the ability of the proposed MAFR model to reflect regional frequency security and the available inertia of IMs in unit scheduling.

关键词： Security Frequency response Load modeling Indexes Costs Sensitivity Power system dynamics

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Recent Advances in Electrochemical-Based Silicon Production Technologies with Reduced Carbon Emission

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Research 2024年第1期2023卷 209-236页

作者： Feng Tian Zhongya Pang Shen Hu Xueqiang Zhang Fei Wang Wei Nie Xuewen Xia Guangshi Li Hsien-Yi Hsu Qian Xu Xingli Zou Li Ji Xionggang Lu state key laboratory of Advanced Special Steel&Shanghai key laboratory of Advanced Ferrometallurgy&School of Materials Science and Engineering Shanghai University99#Shangda RoadShanghai 200444China Center for Hydrogen Metallurgy Technology Shanghai UniversityShanghai 200444China state key laboratory of asic and system School of MicroelectronicsFudan University220#Handan RoadShanghai 200433China School of Energy and Environment Department of Materials Science and EngineeringCity University of Hong KongKowloon TongHong KongChina

Sustainable and low-carbon-emission silicon production is currently one of the main focuses for the metallurgical and materials science ***,considered a promising strategy,has been explored to produce silicon due to prominent advantages:(a)high electricity utilization efficiency;(b)low-cost silica as a raw material;and(c)tunable morphologies and structures,including films,nanowires,and *** review begins with a summary of early research on the extraction of silicon by *** has been placed on the electro-deoxidation and dissolution–electrodeposition of silica in chloride molten salts since the 21st century,including the basic reaction mechanisms,the fabrication of photoactive Si films for solar cells,the design and production of nanoSi and various silicon components for energy conversion,as well as storage ***,the feasibility of silicon electrodeposition in room-temperature ionic liquids and its unique opportunities are *** this basis,the challenges and future research directions for silicon electrochemical production strategies are proposed and discussed,which are essential to achieve large-scale sustainable production of silicon by electrochemistry.

关键词： directions electrodeposition electricity

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A novel multi-channel CNN-LSTM and transformer-based network for diesel engine misfire diagnosis under different noise conditions

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Science China Technological Sciences 2024年第9期67卷 2965-2967页

作者： LI Ou LEI JunBo QIN ChengJin ZHANG ZhiNan TAO JianFeng LIU ChengLiang state key laboratory of Mechanical system and Vibration School of Mechanical EngineeringShanghai Jiao Tong University

Misfire fault, as a major fault of diesel engines, usually occurs because of low fuel quality, insufficient compression, ignition system failure, *** engines may experience issues such as reduced power, increased fuel consumption, and increased noise when misfire happens. Therefore, timely detection and diagnosis of diesel engine misfire faults are of great significance in the industry [1].

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Reorientation and obstacle avoidance control of free-floating modular robots using sinusoidal oscillator

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Chinese Journal of Aeronautics 2024年第6期37卷 262-275页

作者： Zhiyuan YANG Mingzhu LAI Jian QI Ning ZHAO Xin SUI Jie ZHAO Yanhe ZHU state key laboratory of Robotics and system Harbin Institute of TechnologyHarbin 150001China School of Mathematics and Statistics Hainan Normal UniversityHaikou 571158China

This paper presents that a serpentine curve-based controller can solve locomotion control problems for articulated space robots with extensive flight phases,such as obstacle avoidance during free floating or attitude adjustment before *** proposed algorithm achieves articulated robots to use closed paths in the joint space to accomplish the above *** snakes,which can shuttle through gaps and adjust their landing posture by swinging their body during gliding in jungle environments,inspired the design of two *** first maneuver generates a rotation of the system by varying the moment of inertia between the joints of the robot,with the magnitude of the net rotation depending on the controller *** maneuver can be repeated to allow the robot to reach arbitrary *** second maneuver involves periodic undulations,allowing the robot to avoid collisions when the trajectory of the global Center of Mass(CM)passes through the *** maneuvers are based on the improved serpenoid curve,which can adapt to redundant systems consisting of different numbers of ***,the simulation illustrates that combining the two maneuvers can help a free-floating chain-type robot traverse complex *** proposed algorithm can be used with similar articulated robot models.

关键词： Collision avoidance Modularrobots Reorientation Free-floating space robots Nonholonomic systems Biologically inspired controllers Serpenoid curve

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