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Compliance motion control of the hydraulic dual-arm manipulator with adaptive mass estimation of unknown object

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Frontiers of Mechanical Engineering 2024年第1期19卷 35-52页

作者： Bolin SUN Min CHENG Ruqi DING Bing XU state key laboratory of Mechanical Transmissions Chongqing UniversityChongqing 400044China key laboratory of Conveyance and Equipment(Ministry of Education) East China Jiaotong UniversityNanchang 330013China state key laboratory of fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou 310027China

Given the limited operating ability of a single robotic arm,dual-arm collaborative operations have become increasingly *** with the electrically driven dual-arm manipulator,due to the unknown heavy load,difficulty in measuring contact forces,and control complexity during the closed-chain object transportation task,the hydraulic dual-arm manipulator(HDM)faces more difficulty in accurately tracking the desired motion trajectory,which may cause object deformation or even *** overcome this problem,a compliance motion control method is proposed in this paper for the *** mass parameter of the unknown object is obtained by using an adaptive method based on velocity *** to the difficulty in obtaining the actual internal force of the object,the pressure signal from the pressure sensor of the hydraulic system is used to estimate the contact force at the end-effector(EE)of two hydraulic manipulators(HMs).Further,the estimated contact force is used to calculate the actual internal force on the ***,a compliance motion controller is designed for HDM closed-chain *** position and internal force errors of the object are reduced by the feedback of the position,velocity,and internal force errors of the object to achieve the effect of the compliance motion of the HDM,i.e.,to reduce the motion error and internal force of the *** required velocity and force at the EE of the two HMs,including the position and internal force errors of the object,are inputted into separate position *** addition,the position controllers of the two individual HMs are designed to enable precise motion control by using the virtual decomposition control ***,comparative experiments are carried out on a hydraulic dual-arm test *** proposed method is validated by the experimental results,which demonstrate improved object position accuracy and reduced internal force.

关键词： hydraulic dual-arm manipulator compliance motion control unknown object adaptive mass estimation nonlinear control

Observer-Based Adaptive Robust Precision Motion Control of a Multi-Joint Hydraulic Manipulator

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IEEE/CAA Journal of Automatica Sinica 2024年第5期11卷 1213-1226页

作者： Zheng Chen Shizhao Zhou Chong Shen Litong Lyu Junhui Zhang Bin Yao state key laboratory of fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou 310027 Ocean College Zhejiang UniversityZhoushan 316021China School of Mechanical Engineering Shijiazhuang Tiedao UniversityShijiazhuang 050000 state key laboratory of fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou 310027China School of Mechanical Engineering Purdue UniversityWest LafayetteIN 47907 USA

Hydraulic manipulators are usually applied in heavy-load and harsh operation ***,when faced with a complex operation,the traditional proportional-integral-derivative(PID)control may not meet requirements for high control ***-based full-state-feedback control is an effective alternative,but the states of a hydraulic manipulator are not always available and reliable in practical applications,particularly the joint angular velocity *** that it is not suitable to obtain the velocity signal directly from differentiating of position measurement,the low-pass filtering is commonly used,but it will definitely restrict the closed-loop bandwidth of the whole *** avoid this problem and realize better control performance,this paper proposes a novel observerbased adaptive robust controller(obARC)for a multi-joint hydraulic manipulator subjected to both parametric uncertainties and the lack of accurate velocity ***,a nonlinear adaptive observer is first designed to handle the lack of velocity measurement with the consideration of parametric ***,the adaptive robust control is developed to compensate for the dynamic uncertainties,and the close-loop system robust stability is theoretically proved under the observation and control ***,comparative experiments are carried out to show that the designed controller can achieve a performance improvement over the traditional methods,specifically yielding better control accuracy owing to the closed-loop bandwidth breakthrough,which is limited by low-pass filtering in fullstate-feedback control.

关键词： handle Observer filtering

Recent progress in self-propelled particles

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Journal of Hydrodynamics 2024年第1期36卷 61-77页

作者： Zhen-yu Ouyang Jian-zhong Lin laboratory of Impact and Safety Engineering Ministry of EducationNingbo UniversityNingbo315201China Department of Mechanics State Key Laboratory of Fluid Power and Mechatronic SystemsZhejiang UniversityHangzhou310027China

Self-propelled particles are commonly found in a large number of planktonic organisms such as bacteria,fungi,and algae in nature,and researchers have taken a long interest in exploring their swimming mechanisms for more than a *** in the past 20 years,with the development of computational fluid dynamics and flow display technology,as well as the need for the design of synthetic self-propelled particles and micro-swimming devices,self-propelled particles have become the forefront and hotspot of current research in the field of fluid *** paper first introduces the swimming characteristics of common self-propelled particles,leading to a classic“squirmer”type self-propelled particle *** this basis,a systematic introduction and summary of the theoretical and numerical simulation research of“squirmer”will be ***,the main challenges and opportunities faced by the current research will be summarized.

关键词： Self-propelled particles multiphase flow hydrodynamic interaction

Numerical modeling and experimental investigation of a two-phase sink vortex and its fluid-solid vibration characteristics

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2024年第1期25卷 47-62页

作者： Zichao YIN Yesha NI Lin LI Tong WANG Jiafeng WU Zhe LI Dapeng TAN College of Mechanical Engineering Zhejiang University of TechnologyHangzhou310014China state key laboratory of fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou310058China

A sink vortex is a common physical phenomenon in continuous casting,chemical extraction,water conservancy,and other industrial processes,and often causes damage and loss in ***,the real-time monitoring of the sink vortex state is important for improving industrial production ***,its suction-extraction phenomenon and shock vibration characteristics in the course of its formation are complex mechanical dynamic factors for flow field state *** address this issue,we set up a multi-physics model using the level set method(LSM)for a free sink vortex to study the two-phase interaction ***,a fluid–solid coupling dynamic model was deduced to investigate the shock vibration characteristics and reveal the transition mechanism of the critical flow *** numerical results show that the coupling energy shock induces a pressure oscillation phenomenon,which appears to be a transient enhancement of vibration at the vortex penetration *** central part of the transient enhancement signal is a high-frequency *** on the dynamic coupling model,an experimental observation platform was established to verify the accuracy of the numerical *** water-model experiment results were accordant with the numerical *** above results provide a reference for fluid state recognition and active vortex control for industrial monitoring systems,such as those in aerospace pipe transport,hydropower generation,and microfluidic devices.

关键词： Free sink vortex fluid-solid coupling Level set method(LSM) Multi-physics model Vibration characteristics

Theoretical insights into thermal transport and structural stability mechanisms of triaxial compressed methane hydrate

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Chinese Physics B 2024年第9期33卷 494-504页

作者： Dong-Sheng Chen Ting-Ting Miao Cheng Chang Xu-Yang Guo Meng-Yan Guan and Zhong-Li Ji Beijing key laboratory of Process fluid Filtration and Separation College of Mechanical andTransportation EngineeringChina University of Petroleum-BeijingBeijing 102249China state key laboratory of Petroleum Resources and Prospecting China University of Petroleum-BeijingBeijing 102249China

The heat transfer and stability of methane hydrate in reservoirs have a direct impact on the drilling and production efficiency of hydrate resources,especially in complex stress environments caused by formation *** this study,we investigated the thermal transport and structural stability of methane hydrate under triaxial compression using molecular dynamics *** results suggest that the thermal conductivity of methane hydrate increases with increasing compression *** phonon transport mechanisms were identified as factors enhancing thermal *** low compressive strains,a low-frequency phonon transport channel was established due to the overlap of phonon vibration peaks between methane and water *** high compressive strains,the filling of larger phonon bandgaps facilitated the opening of more phonon transport ***,we found that a strain of􀀀0.04 is a watershed point,where methane hydrate transitions from stable to ***,a strain of􀀀0.06 marks the threshold at which the diffusion capacities of methane and water molecules are at their *** a higher strain of􀀀0.08,the increased volume compression reduces the available space,limiting the diffusion ability of water and methane molecules within the *** synergistic effect of the strong diffusion ability and high probability of collision between atoms increases the thermal conductivity of hydrates during the unstable period compared to the stable *** findings offer valuable theoretical insights into the thermal conductivity and stability of methane hydrates in reservoir stress environments.

关键词： methane hydrate molecular dynamics thermal transport triaxial compression structural stability

Multi-Objective Optimization Based on Life Cycle Assessment for Hybrid Solar and Biomass Combined Cooling,Heating and Power System

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Journal of Thermal Science 2024年第3期33卷 931-950页

作者： LIU Jiejie LI Yao MENG Xianyang WU Jiangtao key laboratory of Thermo-fluid Science and Engineering Ministry of EducationXi’an Jiaotong UniversityXi’an710049China

The complementary of biomass and solar energy in combined cooling,heating and power(CCHP)system provides an efficient solution to address the energy crisis and environmental *** work aims to propose a multi-objective optimization model based on the life cycle assessment(LCA)method for the optimal design of hybrid solar and biomass *** life-cycle process of the poly-generation system is divided into six phases to analyze energy consumption and greenhouse gas *** comprehensive performances of the hybrid system are optimized by incorporating the evaluation criteria,including environmental impact in the whole life cycle,renewable energy contribution and economic *** non-dominated sorting genetic algorithmⅡ(NSGA-Ⅱ)with the technique for order preference by similarity to ideal solution(TOPSIS)method is employed to search the Pareto frontier result and thereby achieve optimal *** developed optimization methodology is used for a case study in an industrial *** results indicate that the best performance from the optimized hybrid system is reached with the environmental impact load reduction rate(EILRR)of 46.03%,renewable energy contribution proportion(RECP)of 92.73%and annual total cost saving rate(ATCSR)of35.75%,*** comparing pollutant-eq emissions of different stages,the operation phase emits the largest pollutant followed by the phase of raw material ***,this study reveals that the proposed multi-objective optimization model integrated with LCA method delivers an alternative path for the design and optimization of more sustainable CCHP system.

关键词： combined cooling heating and power system solar-biomass multi-objective optimization life cycle assessment optimal design

Research on blade tip clearance cavitation and turbulent kinetic energy characteristics of axial flow pump based on the partially-averaged Navier-Stokes model

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Journal of Hydrodynamics 2024年第1期36卷 184-201页

作者： Xiao-qi Jia Shuai-kang Zhang Zu-chao Zhu key laboratory of fluid Transmission Technology of Zhejiang Province Zhejiang Sci-Tech UniversityHangzhou310018China

To reveal the cavitation forms of tip leakage vortex(TLV)of the axial flow pump and the flow mechanism of the flow field,this research adopts the partially-averaged Navier-Stokes(PANS)model to simulate the cavitation values of an axial flow pump,followed by experimental *** experimental result shows that compared with the shear stress transport(SST)k-ωmodel,the PANS model significantly reduces the eddy viscosity of the flow field to make the vortex structure clearer and allow the turbulence scale to be more robustly *** cavitation area within the axial flow pump mainly comprises of TLV cavitation,clearance cavitation and tip leakage flows combined effect of triangular cloud cavitation *** formation and development of cavitation are accompanied by the formation and evolution of vortex,and variations in vortex structure also generate and promote the development of *** addition,an in-depth analysis of the relationship between the turbulent kinetic energy(TKE)transport equation and cavitation patterns was also conducted,finding that the regions with relatively high TKE are mainly distributed around gas/liquid boundaries with serious cavitation and evident gas-liquid *** phenomenon is mainly attributed to the combined effect of the pressure action term,stress diffusion term and TKE production term.

关键词： Cavitation axial flow pump tip leakage vortex(TLV) partially-averaged Navier-Stokes(PANS)model turbulent kinetic energy(TKE)

The dry-hot feedback between soil moisture and atmosphere and the accelerated global warming

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Science China Earth Sciences 2024年第3期67卷 890-891页

作者： Tianjun ZHOU state key laboratory of Numerical Modeling for Atmospheric Sciences and Geophysical fluid Dynamics(LASG) Institute of Atmospheric PhysicsChinese Academy of SciencesBeijing 100029China

Greenhouse gas (GHG) emissions have been increasing due to human activities since the Industrial Revolution, resulting in continuous warming of the global climate system and significant drought over a large parts of global land, both have shown a non-linear growth trend in recent decades(Berg et al., 2017;Zhou et al., 2019;IPCC, 2021).

关键词： warming moisture drought

Effect of End Shape on Flow and Heat Transfer Characteristics of Two Parallel Plates

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Journal of Thermal Science 2024年第3期33卷 815-832页

作者： ZHANG Guang HONG Tianxiao WANG Dongrui XIN Jialin TAO Junyu LIN Zhe key laboratory of fluid Transmission Technology of Zhejiang Province Zhejiang Sci-Tech UniversityHangzhou310018China

Flow around a pair of flat plates is a basic hydrodynamics *** this paper,the flow and heat transfer characteristics of two parallel plates with different edge shapes are numerically *** different inclined angles,the influence of chamfered and rounded structures with different sizes at the end-edge on unsteady flow and heat transfer characteristics of two parallel plates are *** is found that the instability and unsteadiness of flow decrease with the increase of end-edge size,and the non-uniformity of wake velocity of both rounded and chamfered plates decreases *** non-uniformity of wake temperature increases firstly and then decreases at a small inclined angle,and the amplitude becomes the largest when S_(rou)(S_(cha))=3,while it basically keeps monotonically increasing at a large inclined ***,the global heat transfer performance of the flat plate is obviously affected by the end-edge modification,especially the chamfered *** the increase of chamfered size,the global Nusselt number basically shows the decreasing *** study provides a theoretical basis for the application of plate-shape structure in engineering fields.

关键词： two parallel plates end shape flow characteristic heat transfer numerical simulation