Underwater minirobots actuated by hybrid driving method

Underwater minirobots have attracted significant interest due to their value in complex application scenarios.Typical underwater minirobots are driven mainly by a soft or rigid actuator.However,soft actuation is currently facing challenges,including inadequate motional control accuracy and the lack of a continuous and steady driving force,while conventional rigid actuation has limited actuation efficiency,environmental adaptability,and motional flexibility,which severely limits the accomplishment of complicated underwater tasks.In this study,we developed underwater minirobots actuated by a hybrid driving method(HDM)that combines combustion-based actuators and propeller thrusters to achieve accurate,fast,and flexible underwater locomotion performance.Underwater experiments were conducted to investigate the kinematic performance of the minirobots with respect to the motion modes of rising,drifting,and hovering.Numerical models were used to investigate the kinematic characteristics of the minirobots,and theoretical models developed to unveil the mechanical principle that governs the driving process.Satisfactory agreement was obtained from comarisons of the experimental,numerical,and theoretical results.Finally,the HDM was compared with selected hybrid driving technologies in terms of acceleration and response time.The comparison showed that the minirobots based on HDM were generally superior in transient actuation ability and reliability.

A Into-Plane Rotating Micromirror Actuated by a Hybrid Electrostatic Driving Structure

A novel into-plane rotating rnicromirror actuated by a hybrid electrostatic driving structure is presented. The hybrid driving structure is made up of a planar plate drive and a vertical comb drive. The device is fabricated in SOI substrate by using a bulk-and-surface mixed silicon micromachining process. As demonstrated by experiment, the novel driving structure can actuate the mirror to achieve large-range continuous rotation as well as spontaneous 90°rotation induced by the pull-in effect. The continuous rotating range of the micromirror is increased to about 46° at an increased yielding voltage. The measured yielding voltages of the mirrors with torsional springs of 1 and 0.5μm in thickness are 390 - 410V and 140 - 160V, respectively. The optical insertion loss has also been measured to be --1.98dB when the mirror serves as an optical switch.

Research on Energy Efficiency Characteristics of Mining Shovel Hoisting and Slewing System Driven by Hydraulic-Electric Hybrid System

Mining shovel is a crucial piece of equipment for high-efficiency production in open-pit mining and stands as one of the largest energy consumption sources in mining.However,substantial energy waste occurs during the descent of the hoisting system or the deceleration of the slewing platform.To reduce the energy loss,an innovative hydrau-lic-electric hybrid drive system is proposed,in which a hydraulic pump/motor connected with an accumulator is added to assist the electric motor to drive the hoisting system or slewing platform,recycling kinetic and potential energy.The utilization of the kinetic and potential energy reduces the energy loss and installed power of the min-ing shovel.Meanwhile,the reliability of the mining shovel pure electric drive system also can be increased.In this paper,the hydraulic-electric hybrid driving principle is introduced,a small-scale testbed is set up to verify the feasibil-ity of the system,and a co-simulation model of the proposed system is established to clarify the system operation and energy characteristics.The test and simulation results show that,by adopting the proposed system,compared with the traditional purely electric driving system,the peak power and energy consumption of the hoisting electric motor are reduced by 36.7%and 29.7%,respectively.Similarly,the slewing electric motor experiences a significant decrease in peak power by 86.9%and a reduction in energy consumption by 59.4%.The proposed system expands the application area of the hydraulic electric hybrid drive system and provides a reference for its application in over-sized and super heavy equipment.

Driving Mechanism of Cotton Comber's Detaching Roller Based on Time-Sharing Unidirectional Drive

The high-speed reciprocating motion of a detaching roller limits the velocity of a cotton comber and affects the quality of comber slivers. The article has proposed a controllable time-sharing unidirectional hybrid drive mechanism after analyzing detaching roller's current numerical control drive method. The analysis focuses on the detaching roller motion required according to cotton comber's velocity and process. The double-servo motors of the mechanism consists of differential gear trains. The mechanism addresses the problem of increased servo motor power,and failure of promptly responded to the positive inversion process of mechanism driven by servo motors. A velocity calculation model of the detaching roller controllable drive mechanism will be generated by using superposition method and design of differential gear trains. The accuracy of the model will be verified using the test platform. This study has presented a reliable and practical high-speed drive mechanism and can be a reference to future studies on high-speed reciprocating motion drive.

Design and Simulation for the Pulse High-Voltage DC Power Supply (HVPS) of 1.2 MW/2.45 GHz HT-7U Lower Hybrid Current Drive System

The superconducting tokamak HT-7U [1] has been designed by the Institute of Plasma Physics since 1998 and will be set up before 2003. The 1.2 MW /2.45 GHz HT-7U LHCD (Lower hybrid current drive) system which being the most efficient non-induction device can heat the plasma and drive the plasma current has been efficiently in operation 'owl and a particular design of the 2.8 MW/-35 kV high-voltage DC power supply has been already completed and will apply to the klystron of LHCD on HT-7 and the future HT-7U, and the project of the power supply has been examined and approved professionally by an authorized group of high-level specialist in the institute of Plasma Physics. The detailed design of the power supply and the simulation results are referred in the paper.

Optimized calculation of the synergy conditions between electron cyclotron current drive and lower hybrid current drive on EAST

The optimized synergy conditions between electron cyclotron current drive （ECCD） and lower hybrid current drive （LHCD） with normal parameters of the EAST tokamak are studied by using the C3PO/LUKE code based on the under- standing of the synergy mechanisms so as to obtain a higher synergistic current and provide theoretical reference for the synergistic effect in the EAST experiment. The dependences of the synergistic effect on the parameters of two waves （lower hybrid wave （LHW） and electron cyclotron wave （ECW））, including the radial position of the power deposition, the power value of the LH and EC waves, and the parallel refractive indices of the LHW （Nr） are oresented and discussed.

Experimental Research on Lower Hybrid Current Drive in Superconducting Tokamak HT-7

?Fundamental experiments on lower hybrid current drive (LHCD) have been undertaken on HT-7 superconducting tokamak. The experiments on LHCD efficiency reveal its depen- deuce on plasma density and the toroidal magnetic field. Furthermore, the experiments on HT-7 successfully demonstrate the ability for LHCD to sustain long pulse tokamak discharges, such as discharges with full non-inductive current drive for several seconds. The experimental study to improve plasma confinements by LHCD suggests that the improvement should be due to the change o f current profile. It has also been demonstrated by the experiments that the lower hybrid wave may lead to an enhanced ionization of particles in the region where the wave is deposited.

Effect of Wave Accessibility on Lower Hybrid Wave Current Drive in Experimental Advanced Superconductor Tokamak with H-Mode Operation

The effect of the wave accessibility condition on the lower hybrid cm＇rent drive in the experimental advanced superconductor Tokamak （EAST） plasma with H-mode operation is studied. Based on a simplified model, a mode conversion layer of the lower hybrid wave between the fast wave branch and the slow wave branch is proved to exist in the plasma periphery for typical EAST H-mode parameters. Under the framework of the lower hybrid wave simulation code （LSC）, the wave ray trajectory and the associated current drive are calculated numerically. The results show that the wave accessibility condition plays an important role on the lower hybrid current drive in EAST plasma. For wave rays with parallel refractive index n｜｜= 2.1 or n｜｜ = 2.5 launched from the outside midplane, the wave rays may penetrate the core plasma due to the toroida] geometry effect, while numerous reflections of the wave ray trajectories in the plasma periphery occur. However, low current drive efficiency is obtained. Meanwhile, the wave accessibility condition is improved if a higher confined magnetic field is applied. The simulation results show that for plasma parameters under present EAST H-mode operation, a significant lower hybrid wave current drive could be obtained for the wave spectrum with peak value n｜｜ = 2.1 if a toroidal magnetic field BT =2.5 T is applied.

Investigation of lower hybrid current drive during H-mode in EAST tokamak

H-mode discharges with lower hybrid current drive （LHCD） alone are achieved in EAST divertor plasma over a wide parameter range. These H-mode discharges are characterized by a sudden drop in Da emission and a spontaneous rise in main plasma density. Good lower hybrid （LH） coupling during H-mode is obtained by putting the plasma close to the antenna and by injecting D2 gas from a pipe near the grill mouse. The analysis of lower hybrid current drive properties shows that the LH deposition profile shifts off axis during H-mode, and current drive （CD） efficiency decreases due to the increase in density. Modeling results of H-mode discharges with a general ray trueing code GENRAY are reported.

A Simulation of the Effect of Collisional Dissipation of Fast Electrons on the Radial Profiles of the Current Driven by Lower-Hybrid-Waves on the HT-7 Tokamak

For the effect of the collisional dissipation of fast electrons driven by the lower-hybrid waves, a predictive simulation is made for the HT-7 plasma. The simulation results show that the dissipation of fast electrons counteracts the effect of radial diffusion to some extent, thereby making the lower-hybrid driven current profile closer to the power deposition profile. So, in the case of an off-axis lower-hybrid wave power launching, the dissipation is helpful in maintaining a center-hollowed current profile in lower hybrid current drive （LHCD） plasmas, and thus possibly maintains the desired reversed magnetic shear.

Impact of Toroidal Effect on Lower Hybrid Current Drive in Tokamak

The main topics concerning lower hybrid wave heating （LHH） and lower hybrid current drive （LHCD） in tokamak systems are presented. The inherent properties of tokamak systems give the ‘gap＇ filling on Brambilla＇s spectrum, which are conducive to LHCD, but, on the other hand, induce a consumption of wave energy by the trapped electrons, which reduce the current drive efficiency. The methods for the enhancement of the current drive efficiency may be derived from detailed analyses by drawing upon the ray tracing technology on toroidal geometry and the Fokker-Planck theory on velocity space.

The design analyze of new hybrid drive concept

This paper presents the design method of hybrid drive system for the minibus with some limited conditions. The approach of design hybrid drive system is based on the dynamic modeling and simulation of the hybrid minibus with planetary gear system. The main target of the design is to obtain the optimal design with the proper hybrid drive configuration and control for a given set of design constraints. In oder to meet the design target, it＇s necessary to adjust some parameters such as mechanical ratios and parameters of battery pack as well as control by simulation. During simulation the transient operating process can be studied in details with the dynamic model in Matlab/Simulink. The control strategy can be optimized by running the simulation and monitoring the operation of each components： the operating area of internal combustion engine （ICE）, fuel consumption （energy consumption）, the power distribution, the torque and rotary speed of ICE and motor, the operating efficiency of motor, the aheration of battery state of charge （SOC）, current and voltage.

LHCD Properties with a New Lower Hybrid Wave Antenna on HT-7 Tokamak

The structure and the characteristic power spectrum of a new lower hybrid wave antenna on the HT-7 tokamak are briefly described in this paper. The main experimental properties with the new antenna have been demonstrated by showing the dependence of current drive efficiency and particle confinement time on phase difference between adjacent waveguides of the antenna. A few preliminary analyses about the experimental results are also discussed in the paper.

Effects of trapped electrons on off-axis lower hybrid current drive in tokamaks

The effects of trapped electrons on off-axis lower hybrid current drive （LHCD） in tokamaks are studied, A computer code for solving the Fokker-Planck equation in a toroidal geometry is developed and employed. The code is suitable for various auxiliary heating and current drive schemes in tokamak plasmas. The influence of the resonance regime on the current drive efficiency as well as the influence of trapped particle fraction on the current drive efficiency are emphasized. It is shown that, as an electrostatic force, the lower hybrid wave causes some of the trapped electrons to be untrapped and lose their energy, which can cut the LHCD efficiency by about 30%. The ITER scaling law is also used to estimate the trapped electron effects.

A Study of Energy Conversion Efficiency Versus Plasma Density by Lower Hybrid Current Drive in HT-7 Tokamak

Ramp-up experiments by means of lower hybrid wave on HT-7 superconducting tokamak have been performed and analyzed. A ramp-up rate of over 300 kA/s is obtained and a conversion efficiency of over 1.0% has been achieved during the ramp-up phase. The study of the dependence of conversion efficiency on plasma density shows that the conversion efficiency is affected by the driven current, which is mainly dominated by the competition of impurity concentration with wave accessibility condition. In addition, the effect of current profile may play an important role in determining the conversion efficiency.

Analysis of Charge-Exchange Spectrum during Lower Hybrid Current Drive on HT-7 Tokamak

A perpendicular neutral particle analyzer (NPA) is used on HT-7 tokamak experiment to provide the measurements of neutral particle flux and ion temperature. The measured results were compared with calculated data by Monte-carlo method for ohmic heating. In lower hybrid current drive (LHCD) experiments, the ion heating of LHCD was identified. The chargeexchange neutral particle flux enhanced was observed. The energy spectrum clearly showed a high-energy ions tail. The bulk ion temperature increased by 0.4-0.5 keV after the onset of LHCD. Efficient ion heating of 1 eV. kW-1 was obtained.

Modern Multilevel Control Technique Used in Electric and Hybrid Drive System with Induction Motors

The mathematical model of the modem induction traction motor （TRIM and cutting magnetic circuit traction motor）, supplied with IPM inverter with different control technique is presented in the paper. In electric and hybrid vehicle are applied： FLMC （Fuzzy Logic Mode Control）, SLMC （Sliding Mode Control）, NRMC （Neural Regulator Control）, and Direct Power and Torque Control for Space Vector Modulated inverter （DPTC SVM）. In the special solution of the electric and hybrid vehicle are also applied a Random Switching Frequency Modulation. The control of hybrid vehicle should assure the realization of established transport-assignments in the definite time, at the optimum of energy consumption. One can this realize using. The multi criteria control system. Some results of the computer simulations are presented in the paper. Results of numerical calculation were verified for laboratory model of the electric and hybrid wheel vehicles traction motor.

Quasi Dynamic Model of Wheel Vehicle with Electric and Hybrid Drive System

The paper presents physical and mathematical models of kinetic system, drive system （electric and combustion traction motors）, and also wheel and rails traction vehicle supply system （car, special vehicle, modern tram vehicle）. Selected predictive and quasi dynamic control system algorithms of traction vehicle are presented in the paper. For selected constructions of traction vehicle drive system are presented in simulation models and are results of calculations of different exploitations work state of wheel vehicle with hybrid drive system. Results of computer calculations are verified with laboratory measurement and suitable corrections coefficient to simulations models of vehicles is introduced.

Toroidal rotation induced by 4.6 GHz lower hybrid current drive on EAST tokamak

Using a tangentially viewing x-ray imaging crystal spectrometer, substantial co-current rotation driven by lower hybrid current drive（LHCD） at 4.6 GHz is observed on EAST tokamak. This study presents plasma rotation behaviors with 4.6 GHz LHCD injection. Typically, the 10-20 km/s co-current rotation change and the transport of rotation velocity from edge to core are observed. The relationship between plasma parameters and rotation is also investigated, indicating that rotation decreases with increasing internal inductance（li） and increases with increasing safety factor（q0）. Hysteresis between rotation and Te plasma stored energy is observed, suggesting different response times between the electron heating and rotation acceleration by LHCD. A comparison between the rotations driven by 4.6 G LHCD and 2.45 G LHCD on EAST is also presented, in which higher frequency LHCD could induce more rotation changes.

Effects of Trapped Electrons on Off-axis Lower Hybrid Current Drive

The effects of trapped electrons on off-axis lower hybrid current drive （LHCD） in tokamaks are studied. The influence of the resonance regime on the current drive efficiency as well as the influence of trapped particle fraction on the current drive efficiency are emphasized.