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. Compar...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 nchieved successfully as depicted theoretically.展开更多
Nanocomposite dielectrics show great promising application in developing next generation wearable all-solidstate cooling devices owing to the possessed advantages of high cooling efficiency, light-weight and small vol...Nanocomposite dielectrics show great promising application in developing next generation wearable all-solidstate cooling devices owing to the possessed advantages of high cooling efficiency, light-weight and small volume without the induced greenhouse effect or serious harm to ozone layer in the exploited refrigerants. However, low electrocaloric strength in nanocomposite dielectric is severely restricting its wide-spread application because of high applied operating voltage to improve electrocaloric effect. After addressing the chosen optimized ferroelectric ceramic and ferroelectric polymer matrix in conjunction with the analysis of crucial parameters, recent progress of electrocaloric effect(ECE) in polymer nanocomposites has been considerably reviewed. Subsequently, prior to proposing the conceptual design and devices/systems in electrocaloric nanocomposites, the existing developed devices/systems are reviewed. Finally, conclusions and prospects are conducted, including the aspects of materials chosen, structural design and key issues to be considered in improving electrocaloric effect of polymer nanocomposite dielectrics for flexible solidstate cooling devices.展开更多
It is urgent to effectively improve the production efficiency in the running process of manufacturing systems through a new generation of information technology.According to the current growing trend of the internet o...It is urgent to effectively improve the production efficiency in the running process of manufacturing systems through a new generation of information technology.According to the current growing trend of the internet of things(IOT)in the manufacturing industry,aiming at the capacitor manufacturing plant,a multi-level architecture oriented to IOT-based manufacturing environment is established for a flexible flow-shop scheduling system.Next,according to multi-source manufacturing information driven in the manufacturing execution process,a scheduling optimization model based on the lot-streaming strategy is proposed under the framework.An improved distribution estimation algorithm is developed to obtain the optimal solution of the problem by balancing local search and global search.Finally,experiments are carried out and the results verify the feasibility and effectiveness of the proposed approach.展开更多
The problem of simultaneous scheduling of machines and vehicles in flexible manufacturing system (FMS) was addressed.A spreadsheet based genetic algorithm (GA) approach was presented to solve the problem.A domain inde...The problem of simultaneous scheduling of machines and vehicles in flexible manufacturing system (FMS) was addressed.A spreadsheet based genetic algorithm (GA) approach was presented to solve the problem.A domain independent general purpose GA was used,which was an add-in to the spreadsheet software.An adaptation of the propritary GA software was demonstrated to the problem of minimizing the total completion time or makespan for simultaneous scheduling of machines and vehicles in flexible manufacturing systems.Computational results are presented for a benchmark with 82 test problems,which have been constructed by other researchers.The achieved results are comparable to the previous approaches.The proposed approach can be also applied to other problems or objective functions without changing the GA routine or the spreadsheet model.展开更多
基金Project(2006AA04Z228) supported by the National High-Tech Research and Development Program of ChinaProject(PCSIRT) supported by Program for Changjiang Scholars and Innovative Research Team in University
文摘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 nchieved successfully as depicted theoretically.
基金Project(202045007) supported by the Start-up Funds for Outstanding Talents in Central South University,China。
文摘Nanocomposite dielectrics show great promising application in developing next generation wearable all-solidstate cooling devices owing to the possessed advantages of high cooling efficiency, light-weight and small volume without the induced greenhouse effect or serious harm to ozone layer in the exploited refrigerants. However, low electrocaloric strength in nanocomposite dielectric is severely restricting its wide-spread application because of high applied operating voltage to improve electrocaloric effect. After addressing the chosen optimized ferroelectric ceramic and ferroelectric polymer matrix in conjunction with the analysis of crucial parameters, recent progress of electrocaloric effect(ECE) in polymer nanocomposites has been considerably reviewed. Subsequently, prior to proposing the conceptual design and devices/systems in electrocaloric nanocomposites, the existing developed devices/systems are reviewed. Finally, conclusions and prospects are conducted, including the aspects of materials chosen, structural design and key issues to be considered in improving electrocaloric effect of polymer nanocomposite dielectrics for flexible solidstate cooling devices.
基金supported by the National Natural Science Foundations of China(No. 51875171)
文摘It is urgent to effectively improve the production efficiency in the running process of manufacturing systems through a new generation of information technology.According to the current growing trend of the internet of things(IOT)in the manufacturing industry,aiming at the capacitor manufacturing plant,a multi-level architecture oriented to IOT-based manufacturing environment is established for a flexible flow-shop scheduling system.Next,according to multi-source manufacturing information driven in the manufacturing execution process,a scheduling optimization model based on the lot-streaming strategy is proposed under the framework.An improved distribution estimation algorithm is developed to obtain the optimal solution of the problem by balancing local search and global search.Finally,experiments are carried out and the results verify the feasibility and effectiveness of the proposed approach.
文摘The problem of simultaneous scheduling of machines and vehicles in flexible manufacturing system (FMS) was addressed.A spreadsheet based genetic algorithm (GA) approach was presented to solve the problem.A domain independent general purpose GA was used,which was an add-in to the spreadsheet software.An adaptation of the propritary GA software was demonstrated to the problem of minimizing the total completion time or makespan for simultaneous scheduling of machines and vehicles in flexible manufacturing systems.Computational results are presented for a benchmark with 82 test problems,which have been constructed by other researchers.The achieved results are comparable to the previous approaches.The proposed approach can be also applied to other problems or objective functions without changing the GA routine or the spreadsheet model.
