A building model with radiant cooling system was established and the cooling load, indoor temperature, surface temperature of the wails and other parameters in non-cooling and radiant cooling room were calculated by T...A building model with radiant cooling system was established and the cooling load, indoor temperature, surface temperature of the wails and other parameters in non-cooling and radiant cooling room were calculated by TRNSYS. The comparative analysis of the characteristics of attenuation and delay proves that the operation of radiant cooling system increases the degree of temperature attenuation of the room and reduces the inner surface temperature of the wall significantly, but has little effect on the attenuation coefficient and delay time of wall heat transfer. The simulation results also show that the inner surface temperature of the walls in the radiant cooling room is much lower than that in non-cooling room in the day with the maximum cooling load, which reduces the indoor operation temperature largely, and improves the thermal comfort. Finally, according to the analysis of indoor temperature of the rooms with different operation schedules of cooling system, it can be derived that the indoor mean temperature changes with the working time of radiant cooling system, and the operation schedule can be adjusted in practice according to the actual indoor temperature to achieve the integration of energy efficiency and thermal comfort.展开更多
Teleoperation system plays an important role in executing task under hazard environment. As the computer networks such as the Internet are being used as the communication channel of teleoperation system, varying time ...Teleoperation system plays an important role in executing task under hazard environment. As the computer networks such as the Internet are being used as the communication channel of teleoperation system, varying time delay causes the overall system unstable and reduces the performance of transparency. This paper proposed twelve operation modes with different control schemes for teleoperation on the Internet with time delay. And an optimal operation mode with control scheme was specified for teleoperation with time delay, based on the tradeoff between passivity and transparency properties. It experimentally confirmed the validity of the proposed optimal mode and control scheme by using a simple one DOF master-slave manipulator system.展开更多
Teleoperation rendezvous and docking can be used as a backup for autonomous rendezvous and docking (RVD) for an unmanned spacecraft or for guiding the chaser docking with an uncooperative target.The inherent teleopera...Teleoperation rendezvous and docking can be used as a backup for autonomous rendezvous and docking (RVD) for an unmanned spacecraft or for guiding the chaser docking with an uncooperative target.The inherent teleoperation time delay is a rigorous problem,especially when the chaser is teleoperated on the ground.To eliminate the effect of time delay,a new approach for teleoperation RVD is studied.The characteristics of teleoperation RVD are analyzed by comparisons with the teleoperation robot and with manually controlled RVD;the relative motion of the chaser is predicted based on the C-W equation;and the processed measure information with time delay through the Kalman filter is utilized to correct the current prediction.Experimental results verify that the approach produces an 18% enhanced success rate of teleoperation RVD compared with direct visual feedback,and consumes less time and fuel.The developed approach also solves the time delay problem effectively.Teleoperation RVD using this method can be applied as a useful backup for autonomous RVD.展开更多
基金Project(2010DFA72740) supported by the International Science & Technology Cooperation Program of China
文摘A building model with radiant cooling system was established and the cooling load, indoor temperature, surface temperature of the wails and other parameters in non-cooling and radiant cooling room were calculated by TRNSYS. The comparative analysis of the characteristics of attenuation and delay proves that the operation of radiant cooling system increases the degree of temperature attenuation of the room and reduces the inner surface temperature of the wall significantly, but has little effect on the attenuation coefficient and delay time of wall heat transfer. The simulation results also show that the inner surface temperature of the walls in the radiant cooling room is much lower than that in non-cooling room in the day with the maximum cooling load, which reduces the indoor operation temperature largely, and improves the thermal comfort. Finally, according to the analysis of indoor temperature of the rooms with different operation schedules of cooling system, it can be derived that the indoor mean temperature changes with the working time of radiant cooling system, and the operation schedule can be adjusted in practice according to the actual indoor temperature to achieve the integration of energy efficiency and thermal comfort.
基金Foundation for U niversity Key Teacher bythe Ministry of Education and National Natural Science Founda-tion of China ( No.69875 0 0 4) and 863 High-Tech Plan ( No.2 0 0 1AA42 3 2 40 )
文摘Teleoperation system plays an important role in executing task under hazard environment. As the computer networks such as the Internet are being used as the communication channel of teleoperation system, varying time delay causes the overall system unstable and reduces the performance of transparency. This paper proposed twelve operation modes with different control schemes for teleoperation on the Internet with time delay. And an optimal operation mode with control scheme was specified for teleoperation with time delay, based on the tradeoff between passivity and transparency properties. It experimentally confirmed the validity of the proposed optimal mode and control scheme by using a simple one DOF master-slave manipulator system.
文摘Teleoperation rendezvous and docking can be used as a backup for autonomous rendezvous and docking (RVD) for an unmanned spacecraft or for guiding the chaser docking with an uncooperative target.The inherent teleoperation time delay is a rigorous problem,especially when the chaser is teleoperated on the ground.To eliminate the effect of time delay,a new approach for teleoperation RVD is studied.The characteristics of teleoperation RVD are analyzed by comparisons with the teleoperation robot and with manually controlled RVD;the relative motion of the chaser is predicted based on the C-W equation;and the processed measure information with time delay through the Kalman filter is utilized to correct the current prediction.Experimental results verify that the approach produces an 18% enhanced success rate of teleoperation RVD compared with direct visual feedback,and consumes less time and fuel.The developed approach also solves the time delay problem effectively.Teleoperation RVD using this method can be applied as a useful backup for autonomous RVD.
