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基于隔振结构的微型振动机器人设计与实验
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作者 陈波 甘中学 +1 位作者 欧阳春 周子清 《传感器与微系统》 CSCD 北大核心 2024年第6期64-68,共5页
为了增强振动机器人的运动性能,设计了一种基于隔振结构的振动驱动机器人。该机器人结构主要由机器人主体、隔振结构和驱动足组成。首先,设计了2种不同的隔振结构,通过理论分析进行对比;然后,介绍了振动驱动的运动原理,由振动电机产生... 为了增强振动机器人的运动性能,设计了一种基于隔振结构的振动驱动机器人。该机器人结构主要由机器人主体、隔振结构和驱动足组成。首先,设计了2种不同的隔振结构,通过理论分析进行对比;然后,介绍了振动驱动的运动原理,由振动电机产生的离心力进行驱动;最后,制作了振动机器人样机并且进行了实际测试,通过对机器人的直线运动、旋转运动、不同地形上的运动、越障和负载进行测试,对隔振结构进行了性能对比,选取了性能更加优越的Z型隔振结构,同时对机器人的性能进行了评估,它在玻璃上的最大速度为181.34 mm/s,能够承载高达300 g的负载,这说明了所设计的隔振结构的有效性,为振动机器人的设计提供了新的思路。 展开更多
关键词 微型机器人 移动机器人 振动驱动 隔振结构
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基于间接编码的形态自适应机器人神经网络控制器设计
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作者 孙福磊 魏秉晟 +1 位作者 甘中学 李伟 《计算机应用与软件》 北大核心 2023年第4期60-67,共8页
为解决传统机器人神经网络控制器只适用于特定形态的问题,提出一种基于间接编码的渐进式方法来生成控制器。该方法使用进化计算实现,不针对特定形态设计控制器,而是寻找机器人形态和控制器之间的映射关系,控制器能够自适应形态的变化。... 为解决传统机器人神经网络控制器只适用于特定形态的问题,提出一种基于间接编码的渐进式方法来生成控制器。该方法使用进化计算实现,不针对特定形态设计控制器,而是寻找机器人形态和控制器之间的映射关系,控制器能够自适应形态的变化。实验通过机器人传感器失效来模拟机器人形态的改变。实验结果表明:当机器人某个传感器失效时,相比于常规的直接编码,使用间接编码的渐进式方法生成的控制器性能更好,表现出更好的健壮性,具有一定的形态自适应能力。 展开更多
关键词 机器人控制 进化计算 间接编码 形态变化 健壮性
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胶囊机器人的柔顺钳设计与性能分析
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作者 吴瑞莹 甘中学 +2 位作者 欧阳春 胡林强 张宏达 《传感器与微系统》 CSCD 北大核心 2023年第6期70-73,共4页
针对胶囊机器人活检钳中零部件数量多、装配复杂的问题,提出了一种基于柔顺双稳态机构理论的柔顺钳。利用伪刚体模型对柔顺钳的双稳态特性进行理论分析,并设计有限元仿真与样机测试试验。在厚板夹持试验中,柔顺钳由开到闭切换,产生0.95 ... 针对胶囊机器人活检钳中零部件数量多、装配复杂的问题,提出了一种基于柔顺双稳态机构理论的柔顺钳。利用伪刚体模型对柔顺钳的双稳态特性进行理论分析,并设计有限元仿真与样机测试试验。在厚板夹持试验中,柔顺钳由开到闭切换,产生0.95 N的静态夹持力峰值,利于对组织破坏后夹取。通过有限元仿真模拟了不同铰链参数对柔顺钳双稳态特性的影响,其双稳态特性随着铰链厚度t的增大而先增大后减小直至消失。组织交互仿真试验中,柔顺钳有双稳态特性,组织所受最大等效应力在0.563~1.235 MPa范围;柔顺钳失去双稳态特性后,组织所受最大等效应力在0.230~0.403 MPa范围。该柔顺钳的结构简单,对组织有更大的破坏应力,为胶囊机器人活检提供新的思路。 展开更多
关键词 胶囊机器人活检 柔顺钳 双稳态特性 伪刚体模型
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多层一致性网络的最优控制节点组合选择算法 被引量:2
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作者 甘中学 刘肇嘉 +2 位作者 邵海滨 许裕栗 李德伟 《计算机应用》 CSCD 北大核心 2018年第A02期206-211,共6页
针对具有层次化网络拓扑结构的多智能体系统中的一致性问题,提出了一种选择多层网络中最优控制节点新的组合算法。首先,提出了定量刻画多层一致性网络控制效果的数学指标。然后根据多层同质网络与多层异质网络拓扑结构的特点,分别定位... 针对具有层次化网络拓扑结构的多智能体系统中的一致性问题,提出了一种选择多层网络中最优控制节点新的组合算法。首先,提出了定量刻画多层一致性网络控制效果的数学指标。然后根据多层同质网络与多层异质网络拓扑结构的特点,分别定位多层多智能体系统的层间网络和层内网络的最优控制节点。在此基础上通过组合的方法,最终确定整个多层网络的最优控制节点。对于多层随机网络,通过改变层数、节点数以及层间和层内的连边概率依次改变层间结构和层内结构。当层内网络节点数较小时,通过算法找到的领导节点和最优控制节点之间的误差控制在1%~10%,当网络节点数增大或者连边概率等于1时两者的相对误差小于1%;当层间结构为随机网络时,当连边概率小于0. 1时相对误差在5%~20%,当连边概率增加到1时相对误差减小为1%。实验分析表明了所提算法的有效性。 展开更多
关键词 多智能体系统 多层网络 一致性问题 最优控制节点 领导-追随模型
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A Review of Modeling Approaches and Tools for the Off-design Simulation of Organic Rankine Cycle 被引量:15
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作者 LIU Liuchen ZHU Tong +1 位作者 GAO Naiping gan zhongxue 《Journal of Thermal Science》 SCIE EI CAS CSCD 2018年第4期305-320,共16页
Organic Rankine Cycles(ORCs) are an effective way to produce electricity from low-grade heat sources, which cannot be effectively obtained using conventional high-temperature Rankine cycles. Due to the lack of availab... Organic Rankine Cycles(ORCs) are an effective way to produce electricity from low-grade heat sources, which cannot be effectively obtained using conventional high-temperature Rankine cycles. Due to the lack of available information regarding the real Organic Rankine Cycle units on industrial level, off-design simulation under diversified operating conditions plays a significant role for both the system performance prediction and control strategy design. This paper summarizes the theoretical basis, modeling approaches and tools for ORC off-design simulations. Firstly, a review was conducted on the individual state-of-the-art convective heat transfer correlations and void fraction models. Secondly, different kinds of modeling approaches and simulation tools were proposed, highlighting their relevant characteristics, and were categorized for their specific applications. Moreover, an in-depth analysis of technical challenges related to various applications and focusing on the model accuracy and complexity, computational efficiency, as well as the model compatibility were extensively described and discussed. Finally, the current research trends in this field and the development for further investigations were presented. 展开更多
关键词 模拟工具 设计 周期 器官 建模 评论 控制策略 操作条件
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灭火器阀门自动化加工系统的设计与优化 被引量:9
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作者 桑凌峰 山村雅幸 +1 位作者 甘中学 王洪波 《机械设计与研究》 CSCD 北大核心 2020年第4期133-137,共5页
基于灭火器阀门加工过程中环境恶劣、效率低等问题,设计了一套灭火器阀门自动化加工系统。首先,根据加工工艺,确定了灭火器阀门加工的整个系统结构,分析了整个系统的运行过程;其次,对该系统的棒料传输和检测单元、机器人棒料运输单元以... 基于灭火器阀门加工过程中环境恶劣、效率低等问题,设计了一套灭火器阀门自动化加工系统。首先,根据加工工艺,确定了灭火器阀门加工的整个系统结构,分析了整个系统的运行过程;其次,对该系统的棒料传输和检测单元、机器人棒料运输单元以及棒料接料单元进行了三维图的详细设计和分析;之后,基于三菱PLC进行控制系统设计,绘制各单元的控制流程图,并编写了控制程序;最后,在现场安装整个自动化加工系统并进行调试,测试整个系统的运动功能和效率;从现场的运动效果来看整个系统运行稳定且比人工效率提高75%,满足设计需求。 展开更多
关键词 灭火器阀门 机械系统设计 控制系统设计
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基于真实城市地图的新型冠状病毒疫情传播仿真数学模型:计算模拟与防控策略的初试研究 被引量:5
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作者 方乐恒 侯嘉文 +5 位作者 来俊杰 靳祯 姚烨 何纳 甘中学 林伟 《应用数学学报》 CSCD 北大核心 2020年第2期383-401,共19页
自2019年12月以来,由新型冠状病毒(COVID-19)引发的传染性疾病已经严重影响了全球公共卫生安全,阻碍了世界经济的发展.科学界对该传染病传播规律的研究仍在紧张进行,基于仓室进行疫情传播动力学建模的研究给出很多有价值的结果,但也有... 自2019年12月以来,由新型冠状病毒(COVID-19)引发的传染性疾病已经严重影响了全球公共卫生安全,阻碍了世界经济的发展.科学界对该传染病传播规律的研究仍在紧张进行,基于仓室进行疫情传播动力学建模的研究给出很多有价值的结果,但也有一定的局限性,主要表现在无法直接描述复杂的真实地理对象(如路网、火车站、医院设置等)对于模拟对象具体行为的影响,也不能直接考虑真实可通行区域、地形开阔程度等对计算仿真结果的影响.为此,我们引入人工智能强化学习领域对相关问题的解决思路--将实现真实地图模拟涉及的各种对象和机制制作成一个可交互的复杂环境,模拟个体无需获取该环境的所有信息,只需与环境交互便能获取自身状态的更新.如此遍历个体并迭代模拟步数即可完成基于可计算模型的仿真.我们提出这一计算模型框架的优势主要表现为:(1)能对难以用传统动力学方程组化的复杂真实环境进行充分细致刻画并给出高效率可交互的框架;(2)后续还可以进一步引入个体奖励函数构成有限马尔可夫决策过程,在没有环境所有信息的情况下,便可以进行诸如最优个体行动策略的训练,这是即使获知环境所有方程组及状态转移概率分布也难以高效求解最优策略的传统动态规划算法所无法替代的,也是使用最前沿深度强化学习算法的基础.本文建立了这样的个体与复杂环境交互模型,通过设置一个包含城市路网和可通行区域、迁入地点及收治医院等要素的真实场景,分别模拟了无干预手段和有干预手段下的COVID-19疫情发展进程,计算了公共卫生领域关心的动态参数,充分拓展了传统动力学模型所能计算模拟的场景,也为下一步针对疫情传播精细化设计和实施智能防控策略建立了可计算的框架基础. 展开更多
关键词 新型冠状病毒 传播动力学 模拟仿真 城市地图 个体环境交互
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Optimization of Operation Strategies for a Combined Cooling, Heating and Power System based on Adiabatic Compressed Air Energy Storage 被引量:8
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作者 CHEN Shang ZHU Tong +2 位作者 gan zhongxue ZHU Xiaojun LIU Liuchen 《Journal of Thermal Science》 SCIE EI CAS CSCD 2020年第5期1135-1148,共14页
The fluctuations of renewable energy and various energy demands are crucial issues for the optimal design and operation of combined cooling,heating and power(CCHP)system.In this paper,a novel CCHP system is simulated ... The fluctuations of renewable energy and various energy demands are crucial issues for the optimal design and operation of combined cooling,heating and power(CCHP)system.In this paper,a novel CCHP system is simulated with advanced adiabatic compressed air energy storage(AA-CAES)technology as a join to connect with wind energy generation and an internal-combustion engine(ICE).The capital cost of utilities,energy cost,environmental protection cost and primary energy savings ratio(P E S R)are used as system performance indicators.To fulfill the cooling,heating and power requirements of a district and consider the thermal-electric coupling of ICE and AA-CAES in CCHP system,three operation strategies are established to schedule the dispatch of AA-CAES and ICE:ICE priority operation strategy,CAES priority operation strategy and simultaneous operation strategy.Each strategy leads the operation load of AA-CAES or ICE to improve the energy supply efficiency of the system.Moreover,to minimize comprehensive costs and maximize the P E S R,a novel optimization algorithm based on intelligent updating multi-objective differential evolution(MODE)is proposed to solve the optimization model.Considering the multi-interface characteristic and active management ability of the ICE and AA-CAES,the economic benefits and energy efficiency of the three operation strategies are compared by the simulation with the same system configuration.On a typical summer day,the simultaneous strategy is the best solution as the total cost is 3643 USD and the P E S R is 66.1%,while on a typical winter day,the ICE priority strategy is the best solution as the total cost is 4529 USD and the P E S R is 64.4%.The proposed methodology provides the CCHP based AA-CAES system with a better optimized operation. 展开更多
关键词 combined cooling heating and power(CCHP)system advanced adiabatic compressed air energy storage(AA-CAES) OPTIMIZATION
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Special Column for the Distributed Energy System with Renewable Energy and Natural Gas 被引量:2
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作者 HAN Wei ZHU Tong gan zhongxue 《Journal of Thermal Science》 SCIE EI CAS CSCD 2020年第5期1095-1096,共2页
With the rapid growth of urban population,the contradiction between energy consumption and environment protection has begun to restrict the development of the ecological civilization.The distributed energy network sys... With the rapid growth of urban population,the contradiction between energy consumption and environment protection has begun to restrict the development of the ecological civilization.The distributed energy network system,which combines the advantages of renewable energy and distributed energy,has gradually emerged and become one of the main development directions of the next-generation energy system.Distributed energy network system is a new type of intelligent energy network system that has evolved from the distributed energy system with integration of multiple energy networks and information networks.By connecting multiple renewable energy and natural gas in the region with end users in a distributed way,it can realize the instant and bidirectional transmission of cold,heat and electricity,and achieve ordering of the entire network through integration and cooperative control of the material flow,energy flow and information flow. 展开更多
关键词 NETWORK INTEGRATION connecting
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Experimental Study on Long Cycling Performance of NCM523 Lithium-Ion Batteries and Optimization of Charge-Discharge Strategy 被引量:1
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作者 ZHU Xiaojun ZHU Jianhua +3 位作者 WANGJunming gan zhongxue LI Guoxian MENG Chuizho 《Journal of Thermal Science》 SCIE EI CAS CSCD 2020年第5期1180-1192,共13页
With the increasing demand for clean renewable energy and electric cars,people have put forward higher requirement for the energy storage system.One of the most successful lithium-ion batteries with a cathode combinat... With the increasing demand for clean renewable energy and electric cars,people have put forward higher requirement for the energy storage system.One of the most successful lithium-ion batteries with a cathode combination of lithium nickel manganese cobalt oxide(also called NCM lithium-ion battery),has been playing an increasingly important role.So far,numerous research has been done on the fabrication of cathode material with optimization of its composition,design,and assembly of the battery system in order to improve the energy storage performance.However,most of the previous studies were conducted based on relatively short cycling time of testing,with limited charge-discharge cycles of no more than 1000.Thus the conclusions were insufficient to be applied in the practical working condition.In this work,by using the developed NCM523 lithium-ion batteries,we have performed a series of ultra-long cycling tests on the individual cell and its module,with a comprehensive study on the relationship between the retained capacity after long cycling time and the depth of discharge(DOD),charge-discharge rate and operating temperature.Optimization of the charge-discharge strategies on a single cell and the whole module was also made to effectively improve the overall energy storage efficiency.This experimental study offers a guideline for the efficient use of similar types of lithium-ion batteries in the practical working condition.The developed batteries together with the optimized charge-discharge strategy proposed here are promising to meet the requirements for applications of stationary energy storage and electric cars. 展开更多
关键词 lithium-ion batteries NCM523 long cycling performance charge-discharge strategy prismatic cell
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A Deep Reinforcement Learning Bidding Algorithm on Electricity Market
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作者 JIA Shuai gan zhongxue +3 位作者 XI Yugeng LI Dewei XUE Shibei WANG Limin 《Journal of Thermal Science》 SCIE EI CAS CSCD 2020年第5期1125-1134,共10页
In this paper,we design a new bidding algorithm by employing a deep reinforcement learning approach.Firms use the proposed algorithm to estimate conjectural variation of the other firms and then employ this variable t... In this paper,we design a new bidding algorithm by employing a deep reinforcement learning approach.Firms use the proposed algorithm to estimate conjectural variation of the other firms and then employ this variable to generate the optimal bidding strategy so as to pursue maximal profits.With this algorithm,electricity generation firms can improve the accuracy of conjectural variations of competitors by dynamically learning in an electricity market with incomplete information.Electricity market will reach an equilibrium point when electricity firms adopt the proposed bidding algorithm for a repeated game of power trading.The simulation examples illustrate the overall energy efficiency of power network will increase by 9.90%as the market clearing price decreasing when all companies use the algorithm.The simulation examples also show that the power demand elasticity has a positive effect on the convergence of learning process. 展开更多
关键词 electricity market reinforcement learning energy efficiency conjectural variation bidding strategy
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