The impulsive motion of a dynamically stabilized robot—Gyrover, which is a single-wheel gyroscopically stabilized robot is studied. A method based on the D’Alembert-Lagrange principle is proposed to develop the impu...The impulsive motion of a dynamically stabilized robot—Gyrover, which is a single-wheel gyroscopically stabilized robot is studied. A method based on the D’Alembert-Lagrange principle is proposed to develop the impulsive dynamic model of the single wheel robot. This method that can be used to find ways to investigate a single wheel mobile robot rolling on a rough terrain is tested using the experimental platform Gyrover. The conditions of falling over without actuators are addressed. Simulations that validate the analysis are provided as well.展开更多
In the commercial utilization of rigid ceramic filters, the performance of pulse cleaning has crucial effects on the long-term stable operation. In order to get a clear insight into the nature of this cleaning process...In the commercial utilization of rigid ceramic filters, the performance of pulse cleaning has crucial effects on the long-term stable operation. In order to get a clear insight into the nature of this cleaning process and provide a solid basis for industrial applications, the flow in ceramic candle filter was investigated. The flow in the pulse-jetspace and inside the ceramic candle is regarded as two- dimensional, unsteady, compressible flow, and numerical simulation is carried out by computational fluid dynamics. The numerical predictions of flow field are in good agreement with the experimental measurements. Effects of the candle diameter, the separation distance between the nozzle and the candle injector and the length of the candle on the flowfield have been numerically analyzed to provide the basis for the optimum design of the pulse cleaning system.展开更多
基金supported by the Knowledge Innovation Program of the Chinese Academy of Sciences ( No. KGCX2-YW-152 No. KGCX2-YW-156)+2 种基金Key Laboratory of Robotics and Intelligent System,Guangdong Province( No. 2009A060800016) Shenzhen Fundamental Research Program( No. JC200903170431A)China Postdoctoral Science Foundation( No. 20090460532)
文摘The impulsive motion of a dynamically stabilized robot—Gyrover, which is a single-wheel gyroscopically stabilized robot is studied. A method based on the D’Alembert-Lagrange principle is proposed to develop the impulsive dynamic model of the single wheel robot. This method that can be used to find ways to investigate a single wheel mobile robot rolling on a rough terrain is tested using the experimental platform Gyrover. The conditions of falling over without actuators are addressed. Simulations that validate the analysis are provided as well.
基金Supported by the National Natural Science Foundation of China(No.59976023)
文摘In the commercial utilization of rigid ceramic filters, the performance of pulse cleaning has crucial effects on the long-term stable operation. In order to get a clear insight into the nature of this cleaning process and provide a solid basis for industrial applications, the flow in ceramic candle filter was investigated. The flow in the pulse-jetspace and inside the ceramic candle is regarded as two- dimensional, unsteady, compressible flow, and numerical simulation is carried out by computational fluid dynamics. The numerical predictions of flow field are in good agreement with the experimental measurements. Effects of the candle diameter, the separation distance between the nozzle and the candle injector and the length of the candle on the flowfield have been numerically analyzed to provide the basis for the optimum design of the pulse cleaning system.
