Heat Transfer Properties and Chaotic Analysis of Parallel Type Pulsating Heat Pipe

The refrigerant mixture of ethanol aqueous was applied to the parallel type pulsating heat pipe (PHP). The operation characteristics of the PHP were analyzed by means of experiment and nonlinear chaotic theory. Moreover, the relationship between the running state and attractor was described. The results indicate that starting power, stable running power and dry burning transition power are about 64.08 W, 148.68 W and 234.0 W respectively. The cycle and amplitude of PHP initially decrease and then increase with the increasing power. However, the data are welldistributed in a certain range. The running state is in agreement with the attractors, and the changing process for attractors is as follows: the attractors first disperse in the whole phase space, then present mass status, and finally show band distribution.

Type Synthesis for 4-DOF Parallel Press Mechanism Using G_F Set Theory

Parallel mechanisms is used in the large capacity servo press to avoid the over-constraint of the traditional redundant actuation. Currently, the researches mainly focus on the performance analysis for some specific parallel press mechanisms. However, the type synthesis and evaluation of parallel press mechanisms is seldom studied, especially for the four degrees of freedom（DOF） press mechanisms. The type synthesis of 4-DOF parallel press mechanisms is carried out based on the generalized function（GF） set theory. Five design criteria of 4-DOF parallel press mechanisms are firstly proposed. The general procedure of type synthesis of parallel press mechanisms is obtained, which includes number synthesis, symmetrical synthesis of constraint GF sets, decomposition of motion GF sets and design of limbs. Nine combinations of constraint GF sets of 4-DOF parallel press mechanisms, ten combinations of GF sets of active limbs, and eleven combinations of GF sets of passive limbs are synthesized. Thirty-eight kinds of press mechanisms are presented and then different structures of kinematic limbs are designed. Finally, the geometrical constraint complexity（GCC）, kinematic pair complexity（KPC）, and type complexity（TC） are proposed to evaluate the press types and the optimal press type is achieved. The general methodologies of type synthesis and evaluation for parallel press mechanism are suggested.

Parallel-type HEV运行控制器设计研究

阐述了并行HEV运行控制器的软硬件设计。并给出以 80C1 96KC单片机为核心的控制器控制HEV中电机与柴油机切换的方式 ,从而实现了电机在HEV全运行范围内对柴油机的辅助功能。

Type Synthesis of Lower Mobility Parallel Mechanisms: A Review

Type synthesis of mechanisms aims to systematically determine all possible structures for a specific mobility requirement. Numerous methods based on di erent theories were proposed for type synthesis of lower mobility parallel mechanisms in past decades. However, there does not exist a comprehensive review on these approaches. Therefore, the goal of this paper is to give such a review, classifying the approaches proposed in the literature into three groups, namely, motion-based methods, constraint-based methods, and other methods. The motion-based methods include the Lie group based method, the GF set method, the linear transformation method, the POC set method,and the finite screw method. The constraint-based methods involve the screw theory-based method, the virtual chain method, the method based on Grassmann line geometry and line graphs, and the motion constraint generator method. Other methods contain the enumeration approach based on the general CGK mobility formula and the graph theory method. Upon thoroughly analyzing the characteristics and/or limitations of each method, this review provides a well reference to help researchers find an e ective synthesis method for innovative design and further scientific investigations for mechanisms.

Type Synthesis of 4-DOF Parallel Kinematic Mechanisms Based on Grassmann Line Geometry and Atlas Method

Many methods are proposed to deal with the type synthesis of parallel kinematic mechanisms（PKMs）, but most of them are less intuitive to some extent. Thus, to propose a concise and intuitive type synthesis method for engineering application is a very challenging issue, which should be further studied in the field. Grassmann line geometry, which can investigate the dimensions of spatial line-clusters in a concise way, is taken as the mathematic foundation. Atlas method is introduced to visually describe the degrees of freedom（DOFs） and constraints of a mechanism, and the dual rule is brought in to realize the mutual conversion of the freedom-space and constraint-space. Consequently, a systematic method based on Grassmann line geometry and Atlas method is generated and the entire type synthesis process is presented. Three type 4-DOF PKMs, i.e., 1T3R, 2T2R and 3T1R（T： translational DOF; R： rotational DOF）, are classified according to the different combinations of the translational DOFs and rotational DOFs. The type synthesis of 4-DOF PKMs is carried out and the possible configurations are thoroughly investigated. Some new PKMs with useful functions are generated during this procedure. The type synthesis method based on Grassmann line geometry and Atlas method is intuitive and concise, and can reduce the complexity of the PKMs＇ type synthesis. Moreover, this method can provide theoretical guidance for other PKMs＇ type synthesis and engineering application. A novel type synthesis method is proposed, which solves the existing methods＇ problems in terms of complicated, not intuitive and unsuitable for practical application.

Type Synthesis Method for the Translational Decoupled Parallel Mechanism Based on Screw Theory

Coupling is the significant characteristic of parallel mechanism,while it is just the coupling that brings about much difficulty for the configuration design,theoretical analysis and the development of the control system of the parallel mechanism. And recently,the research on the decoupled parallel mechanism becomes one of the research hot points in the mechanism fields. In this paper,a type synthesis method for the translational decoupled parallel mechanism( TDPM) is proposed based on the screw theory. To achieve the decoupling characteristics of the translational parallel mechanism,the translational decoupled criterion for type synthesis of the branches are presented in this paper. According to this criterion and the realization conditions of rotational degree of freedom of the mechanism proposed former,a large number of branches for the TDPM are obtained. Taking the three degrees of freedom( DOFs) TDPM as an example,the process of type synthesis is discussed in detail. Using this proposed type synthesis method,a serial of translational decoupled parallel mechanisms, including but not limited to all the existing typical 3-DOF TDPMs, are obtained, which identifies the correctness and effective of the method. The contents of this paper provide a reference and possess significant theoretical meanings for the synthesis and development of the novel decoupled parallel mechanisms.

Type Synthesis of 1T2R Parallel Mechanisms Using Structure Coupling-Reducing Method

Direct kinematics with analytic solutions is critical to the real-time control of parallel mechanisms.Therefore,the type synthesis of a mechanism having explicit form of forward kinematics has become a topic of interest.Based on this purpose,this paper deals with the type synthesis of 1T2R parallel mechanisms by investigating the topological structure coupling-reducing of the 3UPS&UP parallel mechanism.With the aid of the theory of mechanism topology,the analysis of the topological characteristics of the 3UPS&UP parallel mechanism is presented,which shows that there are highly coupled motions and constraints amongst the limbs of the mechanism.Three methods for structure coupling-reducing of the 3UPS&UP parallel mechanism are proposed,resulting in eight new types of 1T2R parallel mechanisms with one or zero coupling degree.One obtained parallel mechanism is taken as an example to demonstrate that a mechanism with zero coupling degree has an explicit form for forward kinematics.The process of type synthesis is in the order of permutation and combination;therefore,there are no omissions.This method is also appli cable to other configurations,and novel topological structures having simple forward kinematics can be obtained from an original mechanism via this method.

Type Synthesis of fully-Decoupled 2T2R Parallel Mechanisms Based on Driven - Chain Principle

Based on the screw theory and the driven-chain principle,a methodology of structural synthesis for fully-decoupled two-translational(2T) and two-rotational(2R) parallel mechanism is proposed by analyzing the characteristics of the input-output relations for fully-decoupled parallel mechanisms.Firstly,according to the desired kinematic characteristics of fully-decoupled parallel mechanisms,a method is proposed by virtue of screw theory to synthesize the desired forms for both the direct and the inverse Jacobian matrices.Secondly,according to the feature of the direct and the inverse Jacobian matrices,the effective screws,the actuated screws and the mobile un-actuated screws of each leg are established based on the reciprocal screw theory and all possible topology structures fulfilling the requirements are obtained.Finally,the desired fully-decoupled parallel mechanisms can be synthesized by using the structural synthesis rule and structural synthesis of fullydecoupled 2T2R parallel mechanisms can be obtained exploiting the abovementioned methodology.In particular,the direct Jacobian matrix of each synthesized fully-decoupled 2T2R parallel mechanism is a non-zero diagonal matrix throughout the entire workspace.Motors are mounted on each leg and each one of them actuates one degree-of-freedom(Do F) of the fully-decoupled parallel mechanism through a one-to-one velocity relation.

Type Synthesis of Fully-Decoupled 3R2T Parallel Mechanisms Based on Driven-Chain Principle

To avoid the existence of nonlinear and strong coupling in parallel mechanisms,it is necessary to address special care to the type synthesis of mechanisms,especially for the type synthesis of fully-decoupled parallel mechanisms. Based on the screw theory and the driven-chain principle,a methodology of structural synthesis for fully-decoupled three-rotational( 3R) and two-translational( 2T)parallel mechanisms was proposed by analyzing the characteristics of the input-output relations for fully-decoupled parallel mechanisms.Firstly,according to the desired kinematic characteristics of fullydecoupled parallel mechanisms,a method was presented by virtue of screw theory to synthesize the desired forms for both the direct and the inverse Jacobian matrices. Secondly,according to the feature of the direct and the inverse Jacobian matrices,the effective screws,the actuated screws and the mobile un-actuated screws of each leg were established based on the reciprocal screw theory and all possible topology structures fulfilling the requirements were obtained.Finally,the desired fully-decoupled parallel mechanisms could be synthesized by using the structural synthesis rule and structural synthesis of fully-decoupled 3R2 T parallel mechanisms could be obtained exploiting the abovementioned methodology. Furthermore,the Jacobian matrix of a synthesized 3R2 T parallel mechanism was deduced to demonstrate the decoupling feature of the parallel mechanism,which also validated the correctness of the methodology of the type synthesis for fully-decoupled 3R2 T parallel mechanisms.

基于模态分析的多逆变器系统串并联谐振特性分析

基于模态分析的多逆变器系统谐振分析方法能够获得系统准确的谐振定位,但在谐振类型辨识方面存在不足。该文提出一种基于模态分析方法和参与因子计算的多逆变器系统谐振辨识方法。考虑线路阻抗,建立计及电容电流有源阻尼的逆变器诺顿等效模型。当逆变器组合变化时,对比串、并联谐振模态分析结果的差异。通过对系统谐振类型的划分,获取不同类型谐振的特征信息。针对不同类型谐振选择特定的模态分析方法,借助参与因子表现实现谐振类型辨识。最后,搭建仿真电路模型和实验平台,通过仿真和实验验证所得结论的正确性。

并联式智能采茶机器人关键技术与装备研发与应用

本项目拟研发一种适用于高端名优茶叶采摘的智能采茶机器人:利用图像识别和人工智能算法,精准辨识芽叶的颜色、形状等信息,做到对茶叶嫩芽精准识别;通过自适应控制等控制系统设计方法与神经网络算等相结合,使机械臂更加灵活精准采摘茶叶;设计自适应式底盘,可根据坡度调整机身姿态,适应复杂茶厂地貌。并结合GPS-RTK技术和惯性导航系统,实现茶园路径规划、自主巡航、自主避障等多种功能,实现全天候自动化作业。提高名优茶采摘产能,为今后开展全自动茶叶采摘技术设备的研发提供理论和实践参考。

用于激光无线能量传输的分布式最大功率点追踪系统研究(内封面文章)

在激光无线能量传输中,由于瞄准系统误差和物体遮挡的影响,光电池阵列接收到的激光辐照分布不均匀,导致光电池阵列组串内的电池间出现电流失配,输出功率下降。针对该问题,采用分布式最大功率点追踪(Distributed Maximum Power Point Tracking,DMPPT)技术,减少光电池阵列组串内的电池间电流失配,并用并联型Boost(PT-Boost)电路替代传统Boost电路,降低DC/DC转换器的输入电流纹波,使DMPPT系统获得高追踪效率。实验结果表明,相较于传统Boost电路,PT-Boost电路的追踪效率提高3.6%,达到93.5%。在上述研究的基础上,设置了遮光率分别为0%、25%和50%的激光无线能量传输场景,DMPPT系统整体效率分别达到了93%、92.6%和90.3%。该研究结果对激光辐照不均匀场景下激光无线能量传输的最大功率点追踪指导意义。

平行药物系统:基于大语言模型和三类人的框架与方法

近年来,随着物联网、大语言模型、多模态交互等新一代人工智能技术的迅猛发展,传统的药物研发、生产加工等过程面临着智能化转型的挑战。为此,以平行智能为理念,基于ACP方法和大语言模型提出了虚实交互的平行药物系统,并将三类人(数字人、机器人和生物人)的概念引入系统中,详细阐述了该系统的理论框架与构建方法。平行药物系统涵盖医药产业的全流程,药物研发阶段考虑了药物发现、实验室研究、临床试验等过程;药物生产加工阶段考虑了制药工厂运行、系统分析预测等方面;药物医疗保健阶段考虑了个性化用药咨询、增强现实用药指导、隐私安全等内容。平行药物系统打造了一个数字化的“药物空间”,旨在建立药物系统的新范式,推动智能化药物的革命。

具有变/定转轴的一类分岔2Rv广义并联机构构型综合

现有大部分2R并联机构靠近定平台的第1个转轴方向矢量不变,靠近动平台的第2个转轴方向矢量只随着第1个转轴而变化,第2转轴相对于动平台不变。本文利用有限旋量理论,在具有变/定转轴分岔1Rv(Rv表示变转轴转动)并联机构基础上,提出一类具有变/定轴线的2Rv并联机构。分析了机构装配条件和驱动配置。此种分岔2Rv并联机构包含4种运动模式,即定-定转轴运动模式、定-变转轴运动模式、变-定转轴运动模式和变-变转轴运动模式。将传统的2条定转轴2R并联机构拓展为具有变/定转轴(变转轴和定转轴)的分岔2Rv广义并联机构。

中压并联型DVR链式变流器主电路及参数设计

中压并联型动态电压恢复器(DVR)由快速开关(HSS)和并联电压源变流器组成。电网发生故障时HSS关断,并联变流器转入负荷电压控制运行模式,并联变流器内置的超级电容器向负荷释放能量。此处对并联链式变流器主电路进行分析与比较,设计了链式变流器功率模块直流侧滤波电路,给出了滤波电路参数设计方法,并通过仿真和实验验证了直流侧滤波电路滤波效果,给出了链式变流器并网运行实验结果。

并联双线圈式直流接触器电磁机构合闸动作特性

直流接触器是新能源系统以及电动汽车中配置最为广泛的开关电器之一。而直流接触器的动态特性是衡量直流接触器性能的重要指标之一。文中以并联双线圈式直流接触器为研究对象,建立了直流接触器电磁机构的动力学模型,利用基于Adams与Maxwell软件的联合仿真研究方法对直流接触器的电磁机构进行合闸过程的仿真分析,研究结果表明,机构合闸动作的仿真合闸时间与试验合闸时间相吻合,验证了该仿真方法的正确性。同时研究了弹簧参数和线圈参数等因素对机构合闸运动特性的影响,发现在一定范围内弹簧预压力变化对合闸时间影响不大,线圈安匝数增大会导致合闸时间变小,线圈内阻增大会导致合闸时间变大且动触头弹跳更剧烈。文中的仿真方法与结果能为直流接触器电磁机构的改进设计与优化提供一定参考。

6SPS型并联机床铣削参数优化

针对并联机床在不同位姿下因刚度、振动响应等因素造成的铣削过程不稳定问题,以6SPS型并联机床为研究对象,通过分析铣削参数,提出一种变进给速度优化方法。采用各推杆的总伸长量及标准偏差对位姿进行描述,将进给速度转化为进给倍率,建立进给倍率关于推杆总伸长量及标准偏差的数学模型,并采用不同的铣削路径、参数、刀具,分别进行两组实验方案下的恒进给与变进给速度的铣削实验。实验结果表明:实验方案一、二中恒进给铣削振动均方根变化范围比变进给铣削分别扩大179倍、8.5倍;实验方案一恒进给铣削表面质量差异明显,而变进铣削表面质量比较稳定。所提变进给速度优化方法有效提高了并联机床的铣削稳定性。

移动云系的平行条播方案与“S”型飞行航线设计研究

在人工影响天气作业过程中,飞机作业航线设计是整个飞机增雨过程中最重要的技术工作,科学的飞机作业航线设计是提高云系催化效率以及检验催化作业效果的关键。针对平行条播方案,在充分考虑云系移速移向、飞机性能等基础上,提出优化的“S”型飞行航线设计方法,给出飞机转弯部分的简化处理方法,可快速确定关键点的位置,同时给出在标准转弯速率下空中国王350和运12飞机的转弯时间计算方法,对飞机增雨作业方案设计有很好的指导意义。实际飞行试验表明,增雨飞机可以按照设计的航线进行增雨作业,并且可实现平行条播。

A型肉毒素对季节性过敏性鼻炎疗效的临床研究

目的探讨A型肉毒素(botulinum toxin A,BTX-A)对秋季花粉诱导的SAR的临床疗效,并比较不同剂量BTX-A的疗效差异。方法本研究为随机、双盲探索性临床试验。纳入患者分为BTX-A高剂量组(25 U/侧)、BTX-A低剂量组(12.5 U/侧)和盐水对照组(0.9%生理盐水)。采用鼻症状总评分(TNSS)、眼症状总评分(TOSS)、视觉模拟评分(VAS)和鼻结膜炎生活质量问卷(RQLQ),在第2、4、8周对患者鼻眼部症状及生活质量进行评估。结果29例患者被最终纳入本研究。BTX-A高剂量组患者治疗后4、8周的TNSS,以及治疗后2、4、8周的TOSS显著低于治疗前及对照组,同时RQLQ也有降低趋势。BTX-A高剂量组患者治疗后4周的TNSS显著低于低剂量组,治疗后第4、8周的TOSS显著低于低剂量组,提示高剂量BTX-A对SAR鼻、眼部症状的改善更加明显。BTX-A自治疗后4周起可显著降低SAR患者鼻塞、流涕、鼻痒VAS,并可持续到第8周。同时,BTX-A自治疗后2周起可显著降低SAR患者眼痒、眼肿、流泪、眼痛VAS,并可持续到第8周。结论BTX-A可有效缓解SAR临床症状,安全性高、副作用少,值得在临床推广。