A unilateral self-locking mechanism(USM) was proposed to increase the tractive ability of the inchworm in-pipe robots for pipeline inspection.The USM was basically composed of a cam,a torsional spring and an axis.The ...A unilateral self-locking mechanism(USM) was proposed to increase the tractive ability of the inchworm in-pipe robots for pipeline inspection.The USM was basically composed of a cam,a torsional spring and an axis.The self-locking and virtual work principles were applied to studying the basic self-locking condition of the USM.In order to make the cooperation between the crutch and telescopic mechanism more harmonical,the unlocking time of the USM was calculated.A set of parameters were selected to build a virtual model and fabricate a prototype.Both the simulation and performance experiments were carried out in a pipe with a nominal inside diameter of 160 mm.The results show that USM enables the robot to move quickly in one way,and in the other way it helps the robot get self-locking with the pipe wall.The traction of the inchworm robot can rise to 1.2 kN,beyond the limitation of friction of 0.497 kN.展开更多
Aiming at the development of parallel hybrid electric vehicle （PHEV） powertrain, parameter matching and optimization are presented, According to the performance of PHEV, the optimization range of engine, motor, driv...Aiming at the development of parallel hybrid electric vehicle （PHEV） powertrain, parameter matching and optimization are presented, According to the performance of PHEV, the optimization range of engine, motor, driveline gear ratio and battery parameters are determined. And then a two-level optimization problem is formulated based on analytical target cascading （ATC）. At the system level, the optimization of the whole vehicle fuel economy is carried out, while the tractive performance is defined as the constraints. The optimized parameters are cascaded to the subsystem as the optimization targets. At the subsystem level, the final drive and transmission design are optimized to make the ratios as close to the targets as possible. The optimization result shows that the fuel economy had improved significantly, while the tractive performance maintains the former level.展开更多
A parameterized internal tide dissipation term and self-attraction and loading(SAL) tide term are introduced in a barotropic numerical model to investigate the dynamics of semidiurnal tidal constituents M_2 and S_2 in...A parameterized internal tide dissipation term and self-attraction and loading(SAL) tide term are introduced in a barotropic numerical model to investigate the dynamics of semidiurnal tidal constituents M_2 and S_2 in the Bohai Sea, Yellow Sea and East China Sea(BYECS). The optimal parameters for bottom friction and internal dissipation are obtained through a series of numerical computations. Numerical simulation shows that the tide-generating force contributes 1.2% of M_2 power for the entire BYECS and up to 2.8% for the East China Sea deep basin. SAL tide contributes 4.4% of M_2 power for the BYECS and up to 9.3% for the East China Sea deep basin. Bottom friction plays a major role in dissipating tidal energy in the shelf regions, and the internal tide eff ect is important in the deep water regions. Numerical experiments show that artifi cial removal of tide-generating force in the BYECS can cause a signifi cant dif ference(as much as 30 cm) in model output. Artifi cial removal of SAL tide in the BYECS can cause even greater diff erence, up to 40 cm. This indicates that SAL tide should be taken into account in numerical simulations, especially if the tide-generating force is considered.展开更多
Traditionally, the optimization algorithm based on physics principles has some shortcomings such as low population diversity and susceptibility to local extrema. A new optimization algorithm based on kinetic-molecular...Traditionally, the optimization algorithm based on physics principles has some shortcomings such as low population diversity and susceptibility to local extrema. A new optimization algorithm based on kinetic-molecular theory(KMTOA) is proposed. In the KMTOA three operators are designed: attraction, repulsion and wave. The attraction operator simulates the molecular attraction, with the molecules moving towards the optimal ones, which makes possible the optimization. The repulsion operator simulates the molecular repulsion, with the molecules diverging from the optimal ones. The wave operator simulates the thermal molecules moving irregularly, which enlarges the searching spaces and increases the population diversity and global searching ability. Experimental results indicate that KMTOA prevails over other algorithms in the robustness, solution quality, population diversity and convergence speed.展开更多
基金Project(2007AA04Z256) supported by the National High-Tech Research and Development Program of China
文摘A unilateral self-locking mechanism(USM) was proposed to increase the tractive ability of the inchworm in-pipe robots for pipeline inspection.The USM was basically composed of a cam,a torsional spring and an axis.The self-locking and virtual work principles were applied to studying the basic self-locking condition of the USM.In order to make the cooperation between the crutch and telescopic mechanism more harmonical,the unlocking time of the USM was calculated.A set of parameters were selected to build a virtual model and fabricate a prototype.Both the simulation and performance experiments were carried out in a pipe with a nominal inside diameter of 160 mm.The results show that USM enables the robot to move quickly in one way,and in the other way it helps the robot get self-locking with the pipe wall.The traction of the inchworm robot can rise to 1.2 kN,beyond the limitation of friction of 0.497 kN.
文摘Aiming at the development of parallel hybrid electric vehicle （PHEV） powertrain, parameter matching and optimization are presented, According to the performance of PHEV, the optimization range of engine, motor, driveline gear ratio and battery parameters are determined. And then a two-level optimization problem is formulated based on analytical target cascading （ATC）. At the system level, the optimization of the whole vehicle fuel economy is carried out, while the tractive performance is defined as the constraints. The optimized parameters are cascaded to the subsystem as the optimization targets. At the subsystem level, the final drive and transmission design are optimized to make the ratios as close to the targets as possible. The optimization result shows that the fuel economy had improved significantly, while the tractive performance maintains the former level.
基金Supported by the National Natural Science Foundation of China(Nos.40676009,40606006)the Qingdao Science and Technology Basic Research Program(No.11-1-4-98-jch)
文摘A parameterized internal tide dissipation term and self-attraction and loading(SAL) tide term are introduced in a barotropic numerical model to investigate the dynamics of semidiurnal tidal constituents M_2 and S_2 in the Bohai Sea, Yellow Sea and East China Sea(BYECS). The optimal parameters for bottom friction and internal dissipation are obtained through a series of numerical computations. Numerical simulation shows that the tide-generating force contributes 1.2% of M_2 power for the entire BYECS and up to 2.8% for the East China Sea deep basin. SAL tide contributes 4.4% of M_2 power for the BYECS and up to 9.3% for the East China Sea deep basin. Bottom friction plays a major role in dissipating tidal energy in the shelf regions, and the internal tide eff ect is important in the deep water regions. Numerical experiments show that artifi cial removal of tide-generating force in the BYECS can cause a signifi cant dif ference(as much as 30 cm) in model output. Artifi cial removal of SAL tide in the BYECS can cause even greater diff erence, up to 40 cm. This indicates that SAL tide should be taken into account in numerical simulations, especially if the tide-generating force is considered.
基金Project(61174140)supported by the National Natural Science Foundation of ChinaProject(13JJA002)supported by Hunan Provincial Natural Science Foundation,ChinaProject(20110161110035)supported by the Doctoral Fund of Ministry of Education of China
文摘Traditionally, the optimization algorithm based on physics principles has some shortcomings such as low population diversity and susceptibility to local extrema. A new optimization algorithm based on kinetic-molecular theory(KMTOA) is proposed. In the KMTOA three operators are designed: attraction, repulsion and wave. The attraction operator simulates the molecular attraction, with the molecules moving towards the optimal ones, which makes possible the optimization. The repulsion operator simulates the molecular repulsion, with the molecules diverging from the optimal ones. The wave operator simulates the thermal molecules moving irregularly, which enlarges the searching spaces and increases the population diversity and global searching ability. Experimental results indicate that KMTOA prevails over other algorithms in the robustness, solution quality, population diversity and convergence speed.
