Analysis of the joint detection capability of the SMILE satellite and EISCAT-3D radar

The Solar wind Magnetosphere Ionosphere Link Explorer(SMILE)satellite is a small magnetosphere–ionosphere link explorer developed cooperatively between China and Europe.It pioneers the use of X-ray imaging technology to perform large-scale imaging of the Earth’s magnetosheath and polar cusp regions.It uses a high-precision ultraviolet imager to image the overall configuration of the aurora and monitor changes in the source of solar wind in real time,using in situ detection instruments to improve human understanding of the relationship between solar activity and changes in the Earth’s magnetic field.The SMILE satellite is scheduled to launch in 2025.The European Incoherent Scatter Sciences Association(EISCAT)-3D radar is a new generation of European incoherent scatter radar constructed by EISCAT and is the most advanced ground-based ionospheric experimental device in the high-latitude polar region.It has multibeam and multidirectional quasi-real-time three-dimensional(3D)imaging capabilities,continuous monitoring and operation capabilities,and multiple-baseline interferometry capabilities.Joint detection by the SMILE satellite and the EISCAT-3D radar is of great significance for revealing the coupling process of the solar wind–magnetosphere–ionosphere.Therefore,we performed an analysis of the joint detection capability of the SMILE satellite and EISCAT-3D,analyzed the period during which the two can perform joint detection,and defined the key scientific problems that can be solved by joint detection.In addition,we developed Web-based software to search for and visualize the joint detection period of the SMILE satellite and EISCAT-3D radar,which lays the foundation for subsequent joint detection experiments and scientific research.

WinCC flexible在涂油机控制系统中的应用

针对静电涂油机控制系统和工艺功能,设计了采用西门子操作面板OP270作为HMI界面,S7-300系列PLC作为控制器,6SE70系列变频器作为传动系统,通过DP通讯建立网络系统。文章详细介绍了操作面板硬件更新后,利用组态软件WinCC flexible开发的操作和监控界面。该设计保留原有功能的基础上,提高了操作监控的界面友好性。应用结果表明:使用WinCC flexible对涂油机系统进行设计,控制、传动和HMI各项兼容性更好,通讯稳定可靠,便于维护人员检修故障,同时提高了操作的便捷性。

Stability and oscillations in a slow-fast flexible joint system with transformation delay

Flexible joints are usually used to transfer velocities in robot systems and may lead to delays in motion transformation due to joint flexibility. In this paper, a linkrotor structure connected by a flexible joint or shaft is firstly modeled to be a slow-fast delayed system when moment of inertia of the lightweight link is far less than that of the heavy rotor. To analyze the stability and oscillations of the slowfast system, the geometric singular perturbation method is extended, with both slow and fast manifolds expressed analytically. The stability of the slow manifold is investigated and critical boundaries are obtained to divide the stable and the unstable regions. To study effects of the transformation delay on the stability and oscillations of the link, two quantitatively different driving forces derived from the negative feedback of the link are considered. The results show that one of these two typical driving forces may drive the link to exhibit a stable state and the other kind of driving force may induce a relaxation oscillation for a very small delay. However, the link loses stability and undergoes regular periodic and bursting oscillation when the transformation delay is large. Basically, a very small delay does not affect the stability of the slow manifold but a large delay affects substantially.

New Method for Predicting the Motion Responses of A Flexible Joint Multi-Body Floating System to Irregular Waves

A new hybrid method of frequency domain and time domain is developed in this paper to predict the motion responses of a flexibly joint multi-body floating system to irregular waves. The main idea of the method is that the three-dimensional frequency method is used to obtain the hydrodynamic coefficients and the response equations are solved in time domain step by step. All the forces can be obtained at the same time. The motions and nonlinear mooring forces of a box type six-body floating system are predicted. A comparison of the theoretical method-based Solutions with experimental results has shown good agreement.

Equivalent continuum modeling of beam-like truss structures with flexible joints

The paper investigated the equivalent continuum modeling of beam-like repetitive truss structures considering the flexibility of joints,which models the contact between the truss member and joint by spring-damper with six directional stiffnesses and dampings.Firstly,a two-node hybrid joint-beam element was derived for modeling the truss member with flexible end joints,and a condensed model for the repeating element with flexible joints was obtained.Then,the energy equivalence method was adopted to equivalently model the truss structure with flexible joints and material damping as a spatial viscoelastic anisotropic beam model.Afterwards,the equations of motion for the equivalent beam model were derived and solved analytically in the frequency domain.In the numerical studies,the correctness of the presented method was verified by comparisons of the natural frequencies and frequency responses evaluated by the equivalent beam model with the results of the finite element method model.

Dynamic surface control-backstepping based impedance control for 5-DOF flexible joint robots

A new impedance controller based on the dynamic surface control-backstepping technique to actualize the anticipant dynamic relationship between the motion of end-effector and the external torques was presented.Comparing with the traditional backstepping method that has "explosion of terms" problem,the new proposed control system is a combination of the dynamic surface control technique and the backstepping.The dynamic surface control(DSC) technique can resolve the "explosion of terms" problem that is caused by differential coefficient calculation in the model,and the problem can bring a complexity that will cause the backstepping method hardly to be applied to the practical application,especially to the multi-joint robot.Finally,the validity of the method was proved in the laboratory environment that was set up on the 5-DOF(degree of freedom) flexible joint robot.Tracking errors of DSC-backstepping impedance control that were 2.0 and 1.5 mm are better than those of backstepping impedance control which were 3.5 and 2.5 mm in directions X,Y in free space,respectively.And the anticipant Cartesian impedance behavior and compliant behavior were achieved successfully as depicted theoretically.

Interval Type-2 Fuzzy PD Tracking Control of Flexible-Joint Robots

This paper develops a novel interval type-2 fuzzy Proportional-Derivative (PD) control scheme for electrically driven flexible-joint robots using the direct method of Lyapunov. The controller has a simple design in a decentralized structure. Compared to the previous controllers reported for the flexible-joint robots which use two control loops, it has a simpler structure using only one control loop. It guarantees stability and provides a good tracking performance. The controller considers the whole robotic system including the manipulator and motors by applying the voltage control strategy. Stability analysis is presented and the effectiveness of the proposed control approach is demonstrated by simulations using a three link flexible-joint robot driven by permanent magnet DC motors. Simulation results show that the interval type-2 fuzzy PD controller can handle external disturbance better than the type-1 fuzzy PD controller. In addition, it spends less control effort than the type-1 in order to deal with disturbance.

跨博-阿断裂隧道的抗错断性能模型试验

中国西部地区地质条件复杂,许多隧道工程在建设过程中会穿越不良地质区段,受到来自活动断层的错动威胁.为探究走滑断层作用下铰接隧道结构的应变响应规律及变形破坏机制,以天山胜利隧道工程为背景,利用光纤传感技术,通过室内缩尺模型试验,开展了走滑断层作用下分节段铰接隧道变形破坏研究.结果显示,隧道衬砌的变形主要发生在断层破碎带内部及边缘附近,隧道整体的破坏模式为拉压剪切组合破坏模式;沿隧道纵向,断层破碎带处隧道受力模式总体上为拱顶与拱底受拉,两侧既有受拉也有受压;沿截面环向,环向应变分布呈“W”形,存在两个拉应变峰值及两个压应变峰值,截面变形趋势为两侧受到水平挤压作用,迫使截面由马蹄形向椭圆形发展.研究结果揭示了走滑断层作用下铰接隧道的变形破坏形式以及衬砌变形规律,可为类似工程提供理论参考和技术支持.

MODELLING OF TWO-FLEXIBLE-ARM MECHANISM WITH ELASTIC JOINTS

The dynamic model of two-flexible-arm mechanism with elastic joints is studied.The transmission problem of the joint which connects two flexible links is successfully solved. The mechanical model is proposed for the joint, and a practical vibration analysis method of lumped parameter transfer matrix modal analysis is developed for two flexible arms with an elastic joint.

Effects of Joint Controller on Analytical Modal Analysis of Rotational Flexible Manipulator

Modal analysis is a fundamental and important task for modeling and control of the flexible manipulator. However, almost all of the traditional modal analysis methods view the flexible manipulator as a pure mechanical structure and neglect feedback action of joint controller. In order to study the effects of joint controller on the modal analysis of rotational flexible manipulator, a closed-loop analytical modal analysis method is proposed. Firstly, two exact boundary constraints, namely servo feedback constraint and bending moment constraint, are derived to solve the vibration partial differential equation. It is found that the stiffness and damping gains of joint controller are both included in the boundary conditions, which lead to an unconventional secular term. Secondly, analytical algorithm based on Ritz approach is developed by using Laplace transform and complex modal approach to obtain the natural frequencies and mode shapes. And then, the numerical simulations are performed and the computational results show that joint controller has pronounced influence on the modal parameters： joint controller stiffness reduces the natural frequency, while joint controller damping makes the shape phase non-zero. Furthermore, the validity of the presented conclusion is confirmed through experimental studies. These findings are expected to improve the performance of dynamics simulation systems and model-based controllers.

价格-积分联合激励下考虑消费舒适度的居民需求响应优化策略

针对居民家庭生活能耗占比高、碳排放量基数大、用电分散性与随机性明显的问题,为进一步发掘居民用户的节能降碳潜力,引导其规模有序地参与电力需求响应,提出了价格信号与积分制联合激励下考虑消费舒适度的居民用户需求响应优化策略。首先,分析价格-积分联合激励的运营架构,构建考虑居民用电消费心理学的行为不确定性模型。其次,提出价格-积分联合激励量化模型与积分激励兑换策略,结合家用电器运行特征,构建居民柔性负荷的积分激励数学模型。进而,考虑居民用电量、时间与温度多元舒适度,构建计及消费舒适度与边界效用递减效应的居民用户需求响应多目标优化模型。最后,以我国北方某社区某个居民家庭负荷为例进行仿真计算,结果表明,所提模型能在保障居民电力消费舒适度的前提下,降低日电费支出18.21%,相比于其他两种策略,在负荷电量转移率、居民负荷峰值削减量方面的优势更为显著。

Basic Characteristics of a New Flexible Pneumatic Bending Joint

Several typical flexible pneumatic actuators （FPA） and different mechanical models describing their behaviors have been proposed, however, it is difficult to balance compliance and load capacity in conventional designs, and these models still have limitations in predicting behavior of FPAs. A new flexible pneumatic bending joint （FPBJ） with special anisotropic rigidity structure is proposed. The FPBJ is developed as an improvement with regard to existing types of FPA, and its principal characteristic is derived from the special anisotropic rigidity structure. With this structure, the load capacity in the direction perpendicular to bending plane is strengthened. The structure of the new FPBJ is explained and a mathematical model is derived based on Euler-Bernoulli beam model and Hook’s law. To obtain optimum design and usage, some key structure parameters and input-output characteristics are simulated. The simulation results reveal that the relationship between the structure parameters and FPBJ’s bending angle is nonlinear. At last, according to the simulation results, the FPBJ is manufactured with optional parameters and tested. The experimental results show that the joint’s statics characteristics are reflected by the mathematical model accurately when the FPBJ is deflated. The maximum relative error between simulation and experimental results is less than 6%. However, the model still has limitations. When the joint is inflated, the maximum relative error reaches 20%. This paper proposes a new flexible pneumatic bending joint which has sufficient load capacity and compliance, and the mathematical model provides theoretical guidance for the FPBJ’s structure design.

Development of flexible telescopic boom model using ANCF sliding joint constraints with LuGre friction

In this investigation, a modeling procedure of a telescopic boom of cranes is developed using the absolute nodal coordinate formulation together with the sliding joint constraints. Since telescopic booms are extracted and retracted under various operating conditions, the overall length of the boom changes dynamically, leading to the time-variant vibration characteristics. For modeling the telescopic structure of booms, a special care needs to be exercised since the location of the sliding contact point moves Mong the deformable axis of the flexible boom and the solution to a moving boundary problem is required. This issue indeed makes the modeling of the telescopic boom difficult, despite the significant needs for the analysis. It is, therefore, the objective of this investigation to develop a modeling procedure for the flexible telescopic boom by considering the sliding contact condition with the dynamic frictional effect. To this end, the sliding joint constraint developed for the absolute nodal coordinate formulation is employed for describing relative sliding motion between flexible booms, while flexible booms are modeled using the beam element of the absolute nodal coordinate formulation, which allows for modeling the large rotation and deformation of the structure.

Design of Robust Controller for Flexible Joint Robot with Nonlinear Friction Characteristics

A robust controller method for flexible joint robot considering the effect caused by nonlinear friction was presented.The nonlinear friction was denoted as inverse additive output uncertainty relative to the nominal model in our work,based on which the describing function was analyzed in frequency domain,and the weighting function of nonlinear friction was further calculated as well. By combining the friction uncertainty,the mixed sensitivity H∞optimization was proposed as the benchmark for controller design, which also leaded to good performance of robustness. Furthermore,unstructured perturbation to the system was analyzed so that the stability was guaranteed. Simulation results show that the proposed controller can provide excellent tracking and regulation performance.

Fractional Order Linear Active Disturbance Rejection Control for Linear Flexible Joint System

A linear flexible joint system using fractional order linear active disturbance rejection control is studied in this paper.With this control scheme,the performance against disturbances,uncertainties,and attenuation is enhanced.Linear active disturbance rejection control(LADRC)is mainly based on an extended state observer(ESO)technology.A fractional integral(FOI)action is combined with the LADRC technique which proposes a hybrid control scheme like FO-LADRC.Incorporating this FOI action improves the robustness of the standard LADRC.The set-point tracking of the proposed FO-LADRC scheme is designed by Bode’s ideal transfer function(BITF)based robust closed-loop concept,an appropriate pole placement method.The effectiveness of the proposed FO-LADRC scheme is illustrated through experimental results on the linear flexible joint system(LFJS).The results show the enhancement of the robustness with disturbance rejection.Furthermore,a comparative analysis is presented with the results obtained using the integer-order LADRC and FO-LADRC scheme.

Development and control of flexible pneumatic wall-climbing robot

A new kind of flexible pneumatic wall-climbing robot,named WALKMAN-I,was proposed. WALKMAN-I is basically composed of a flexible pneumatic actuator (FPA),a flexible pneumatic spherical joint and six suction cups. It has many characteristics of low-cost,lightweight,simple structure and good flexibility. Its operating principle was introduced. Then three basic locomotion modes,which are linear motion,curvilinear motion and crossing the orthogonal planes,were presented. The safety conditions of WALKMAN-I were discussed and built. Finally,the control system was designed and experiments were carried out. Experimental results show that WALKMAN-I is able to climb on the vertical wall surface along a straight line or a curved path,and has the ability of crossing orthogonal planes and obstacles. The maximum rotation angle reaches 90°,the maximum velocity reaches 5 mm/s,and the rotation angle and the moving velocity of WALKMAN-I can be easily controlled.

Flexible喉罩在经鼻中隔-蝶窦入路垂体瘤切除术中的应用

目的观察Flexible喉罩(flexible laryngeal mask airway,FLMA)用于经鼻中隔-蝶窦垂体瘤切除手术患者气道管理的效果及围术期应激反应的变化。方法选择择期全麻下行经鼻中隔-蝶窦垂体瘤切除术患者100例,男71例,女29例,年龄18~65岁,BMI 21~28kg/m2,ASAⅠ或Ⅱ级。随机分为两组:FLMA组(F组)和加强型气管导管组(T组),每组50例。测定麻醉诱导前(T0)、插入FLMA或气管导管即刻(T1)、插入后1min(T2)、5min(T3)时血浆肾上腺素和去甲肾上腺素浓度;评估F组摆手术体位后和手术结束时气道暴露时纤维支气管软镜Berry评分并记录喉罩密封压;记录拔除FLMA或气管导管的时间及呛咳、喉痉挛、咽喉疼痛、声音嘶哑等不良反应发生情况。结果 T2、T3时F组血浆肾上腺素及去甲肾上腺素浓度明显低于T组(P<0.05)。F组手术开始前和手术结束时气道暴露时纤维支气管软镜Berry评分差异无统计学意义。F组拔除喉罩时间明显短于T组拔管时间[(9±3)min vs(17±6)min](P<0.05),拔除喉罩(气管导管)时呛咳(2%vs 22%)及拔除后咽喉疼痛(4%vs 30%)发生率明显低于T组(P<0.05)。结论与加强型气管导管比较,FLMA可安全有效地应用于经鼻中隔-蝶窦入路垂体瘤切除手术,与麻醉相关的应激反应和并发症少,有助于术后恢复。

Dynamic analysis of multi-link spatial flexible manipulator arms with dynamic stiffening effects

The dynamics for multi-link spatial flexible manipulator arms is investigated. The system considered here is an N-flexible-link manipulator driven by N DC-motors through N revolute flexiblejoints. The flexibility of each flexible joint is modeled as a linearly elastic torsional spring, and the mass of the joint is also considered. For the flexibility of the link, all of the stretching deformation, bending deformation and the torsional deformation are included. The complete governing equations of motion of the system are derived via the Lagrange equations. The nonlinear description of the deformation field of the flexible link is adopted in the dynamic modeling, and thus the dynamic stiffening effects are captured. Based on this model, a general-purpose software package for dynamic simulation of multi-link spatial flexible manipulator arms is developed. Several illustrative examples are given to validate the algorithm presented in this paper and to indicate that not only dynamic stiffening effects but also the flexibility of the structure has significant influence on the dynamic performance of the manipulator.

Two-Layer Contact Nonlinear Mechanical Analysis of Flexible Drilling Tool in the Wellbore

The lack of research on flexible drilling tool leads to limited application of ultra-short radius horizontal wells.The flexible drilling tool is different from the conventional drilling tool.The flexible drilling pipe involves a mutual transition between the structure and the mechanism during the deformation process.At the same time,the flexible drilling pipe and the eccentric guide tube,the guide tube and the wellbore generate random contact.In this paper,3-D beam elements,universal joint elements,rigid beam elements and the beam-beam contact elements are combined to establish a two-layer contact nonlinear finite element model of the flexible drilling tool in the wellbore.The dynamic relaxation method is introduced for numerical solution.The feasibility of the model and the algorithm is verified by an example.The mechanical analysis of flexible drilling tool under the four hole inclinations in the oblique section is carried out.It is found that the flexible drilling pipe has a“folded line”deformation.The contact force between the flexible drilling pipe and the guide tube is randomly distributed.The contact force between the guide tube and the wellbore in the oblique section is greater than that in the vertical section.As the hole inclinations increase,the torque and axial force transmitted to the drill bit gradually decrease.