Aim Aiming at the position tracking control for valve controlled motor electrohydraulic proportional servo systems mainly driving the static load torque, the tracking performance was studied in the presence of the v...Aim Aiming at the position tracking control for valve controlled motor electrohydraulic proportional servo systems mainly driving the static load torque, the tracking performance was studied in the presence of the variable gain and deadzone. Methods On the basis of conventional composite control with the deadzone compensation method, a comprehensive control approach with the deadzone and self adjusting feedforward compensation was proposed. Results Experimental results showed that the good tracking performance was achieved for the sinusoidal and constant velocity position tracking under a wide variations of load torque. Conclusion The position tracking accuracy for valve controlled motor electrohydraulic proportional servo systems has been solved by using the comprehensive control approach with the deadzone and self adjusting feedforward compensation.展开更多
In order to investigate the joint torque-based Cartesian impedance control strategies and the influence of compensations for friction, an experimental study on the identification of friction parameters, friction compe...In order to investigate the joint torque-based Cartesian impedance control strategies and the influence of compensations for friction, an experimental study on the identification of friction parameters, friction compensation and the Cartesian impedance control are developed for the harmonic drive robot, by using the sensors available in the joint itself. Different from the conventional Cartesian impedance control schemes which are mostly based on the robot end force/torque information, five joint torque-based Cartesian impedance control schemes are considered, including the force-based schemes in Cartesian/joint space, the position-based schemes in Cartesian/joint space and the stiffness control. Four of them are verified by corresponding experiments with/without friction compensations. By comparison, it is found that the force-based impedance control strategy is more suitable than the position-based one for the robot based on joint torque feedback and the friction has even a positive effect on Cartesian impedance control stability.展开更多
The existing kinematic parameter calibration method cannot further improve the absolute positioning accuracy of the robot due to the uncertainty of positioning error caused by robot joint backlash.In view of this prob...The existing kinematic parameter calibration method cannot further improve the absolute positioning accuracy of the robot due to the uncertainty of positioning error caused by robot joint backlash.In view of this problem,a closed‑loop feedback accuracy compensation method for robot joints was proposed.Firstly,a Chebyshev polynomial error estimation model was established which took geometric error and non‑geometric error into account.In addition,the absolute linear grating scale was installed at each joint of the robot and the positioning error of the robot end was mapped to the joint angle.And the joint angle corrected value was obtained.Furthermore,the closed‑loop feedback of robot joints was established to realize the online correction of the positioning error.Finally,an experiment on the KUKA KR210 industrial robot was conducted to demonstrate the effectiveness of the method.The result shows that the maximum absolute positioning error of the robot is reduced by 75%from 0.76 mm to 0.19 mm.This method can compensate the robot joint backlash effectively and further improve the absolute positioning accuracy of the robot.展开更多
To examine whether metabolic compensation during seasonal acclimatization at the liver mitochondrial level is consistent with that at the whole-animal level, respiration rates of liver mitochondria and resting metabol...To examine whether metabolic compensation during seasonal acclimatization at the liver mitochondrial level is consistent with that at the whole-animal level, respiration rates of liver mitochondria and resting metabolic rates in winter- and sum- meracclimatized southern catfish （Silurus meridionalis Chen） were measured. At 12.5, 17.5, 22.5, 27.5 and 32.5~C, the mean values of state 3 respiration rates were 12.21, 13.84, 18.96, 24.78 and 32.01 nmol O2min-1 mg-1 mitochondrial protein in the winter group, and 8.56, 9.20, 17.32, 22.74 and 26.32 nmol 02 min-1 mgq in the summer group, respectively. At the five assay temperatures the resting metabolic rates were 24.86, 42.68, 61.59, 84.10 and 125.65 mg 02 h-1 kgI body mass in the winter group, and 22.89, 40.59, 52.94, 75.13 and 109.35 mg Oz h-1 kg-1 in the summer group, respectively. Total mitochondrial respiration rates in the liver organ were estimated based on state 3 respiration rates, mitochondrial protein content and organ mass, and the mean values were 72.96, 71.87, 112.47, 167.35 and 183.27 nmol Ozmin-lin the winter group, and were 47.89, 47.39, 105.67, 138.18 and 132.29 nmol 02 min-1 in the summer group, respectively. Metabolic compensation caused by seasonal acclimatization occurred at the liver mitochondrial level and compensation at the liver organ level was found to be more efficient because of an in- crease in metabolic capacity of mitochondria and a boost in organ mass. Metabolic compensation at the whole-animal level was not detected. During seasonal acclimatization, the effect of metabolic compensation at liver mitochondrial level is inconsistent with that at the whole-animal level in the southern catfish. This may be due to different degrees of regulation of metabolic mechanisms among various tissues and organs in an acclimatized organism展开更多
China’s urban expansion,food security,and energy transition are in a critical situation.One solution is to tap into the green production potential of the built urban environment and explore new ways to save land spac...China’s urban expansion,food security,and energy transition are in a critical situation.One solution is to tap into the green production potential of the built urban environment and explore new ways to save land space and alleviate ecological pressure through food and solar energy production.This paper differs from previous ecological compensation studies,which mostly focus on key ecological functional areas or fiscal compensation mechanisms,in that it innovatively establishes an ecological compensation mechanism within the urban space.In this paper,we propose the"green productive area"of cities as a way to measure the ecological carrying capacity improvement potential of cities from the perspective of urban ecology,and it is based on converting the green resource income of cities into the ecological footprint area they could save under the same conditions.First,a typological approach was used to establish a compensation strategy for green production.Second,a spatial inventory was taken of all elements of the built environment and an analysis of their green production potential was carried out.Finally,it was necessary to establish a unified accounting standard for the ecological land saving benefits of different green production options,which could be converted into green productive land area indicators.In the case of Xuefu Street in Nankai District,Tianjin,the available rooftops and idle land were used for green production,which supplemented the ecological carrying capacity provided by the natural land occupied by 12%of the buildings in the district.展开更多
文摘Aim Aiming at the position tracking control for valve controlled motor electrohydraulic proportional servo systems mainly driving the static load torque, the tracking performance was studied in the presence of the variable gain and deadzone. Methods On the basis of conventional composite control with the deadzone compensation method, a comprehensive control approach with the deadzone and self adjusting feedforward compensation was proposed. Results Experimental results showed that the good tracking performance was achieved for the sinusoidal and constant velocity position tracking under a wide variations of load torque. Conclusion The position tracking accuracy for valve controlled motor electrohydraulic proportional servo systems has been solved by using the comprehensive control approach with the deadzone and self adjusting feedforward compensation.
基金The National Natural Science Foundation of China(No.60675045)the National High Technology Research and Development Program of China (863Program) (No.2006AA04Z255)
文摘In order to investigate the joint torque-based Cartesian impedance control strategies and the influence of compensations for friction, an experimental study on the identification of friction parameters, friction compensation and the Cartesian impedance control are developed for the harmonic drive robot, by using the sensors available in the joint itself. Different from the conventional Cartesian impedance control schemes which are mostly based on the robot end force/torque information, five joint torque-based Cartesian impedance control schemes are considered, including the force-based schemes in Cartesian/joint space, the position-based schemes in Cartesian/joint space and the stiffness control. Four of them are verified by corresponding experiments with/without friction compensations. By comparison, it is found that the force-based impedance control strategy is more suitable than the position-based one for the robot based on joint torque feedback and the friction has even a positive effect on Cartesian impedance control stability.
基金supported by the National Natural Science Foundation of China(Nos.51875287, 52075250)the Special Fund for Transformation of Scientific,and Technological Achievements of Jiangsu Province(No.BA2018053)
文摘The existing kinematic parameter calibration method cannot further improve the absolute positioning accuracy of the robot due to the uncertainty of positioning error caused by robot joint backlash.In view of this problem,a closed‑loop feedback accuracy compensation method for robot joints was proposed.Firstly,a Chebyshev polynomial error estimation model was established which took geometric error and non‑geometric error into account.In addition,the absolute linear grating scale was installed at each joint of the robot and the positioning error of the robot end was mapped to the joint angle.And the joint angle corrected value was obtained.Furthermore,the closed‑loop feedback of robot joints was established to realize the online correction of the positioning error.Finally,an experiment on the KUKA KR210 industrial robot was conducted to demonstrate the effectiveness of the method.The result shows that the maximum absolute positioning error of the robot is reduced by 75%from 0.76 mm to 0.19 mm.This method can compensate the robot joint backlash effectively and further improve the absolute positioning accuracy of the robot.
基金Acknowledgements This study was supported by the National Natural Science Foundation of China （30371121）, Natural Science Foundation of Chongqing Government （2007BA7029）, and Doctoral Foundation of Southwest University, China. We are grateful to LQ Yuan, Y Kong, DF Ming and B Wu for assistance with experiments. We also thank SL Miao for comments on an earlier version of this manuscript.
文摘To examine whether metabolic compensation during seasonal acclimatization at the liver mitochondrial level is consistent with that at the whole-animal level, respiration rates of liver mitochondria and resting metabolic rates in winter- and sum- meracclimatized southern catfish （Silurus meridionalis Chen） were measured. At 12.5, 17.5, 22.5, 27.5 and 32.5~C, the mean values of state 3 respiration rates were 12.21, 13.84, 18.96, 24.78 and 32.01 nmol O2min-1 mg-1 mitochondrial protein in the winter group, and 8.56, 9.20, 17.32, 22.74 and 26.32 nmol 02 min-1 mgq in the summer group, respectively. At the five assay temperatures the resting metabolic rates were 24.86, 42.68, 61.59, 84.10 and 125.65 mg 02 h-1 kgI body mass in the winter group, and 22.89, 40.59, 52.94, 75.13 and 109.35 mg Oz h-1 kg-1 in the summer group, respectively. Total mitochondrial respiration rates in the liver organ were estimated based on state 3 respiration rates, mitochondrial protein content and organ mass, and the mean values were 72.96, 71.87, 112.47, 167.35 and 183.27 nmol Ozmin-lin the winter group, and were 47.89, 47.39, 105.67, 138.18 and 132.29 nmol 02 min-1 in the summer group, respectively. Metabolic compensation caused by seasonal acclimatization occurred at the liver mitochondrial level and compensation at the liver organ level was found to be more efficient because of an in- crease in metabolic capacity of mitochondria and a boost in organ mass. Metabolic compensation at the whole-animal level was not detected. During seasonal acclimatization, the effect of metabolic compensation at liver mitochondrial level is inconsistent with that at the whole-animal level in the southern catfish. This may be due to different degrees of regulation of metabolic mechanisms among various tissues and organs in an acclimatized organism
基金The National Natural Science Foundation of China(51978443,52078322)The Youth Program of National Natural Science Foundation ofChina(51708395)The Tianjin Graduate Research and Innovation Project in 2009(2019YJSB175).
文摘China’s urban expansion,food security,and energy transition are in a critical situation.One solution is to tap into the green production potential of the built urban environment and explore new ways to save land space and alleviate ecological pressure through food and solar energy production.This paper differs from previous ecological compensation studies,which mostly focus on key ecological functional areas or fiscal compensation mechanisms,in that it innovatively establishes an ecological compensation mechanism within the urban space.In this paper,we propose the"green productive area"of cities as a way to measure the ecological carrying capacity improvement potential of cities from the perspective of urban ecology,and it is based on converting the green resource income of cities into the ecological footprint area they could save under the same conditions.First,a typological approach was used to establish a compensation strategy for green production.Second,a spatial inventory was taken of all elements of the built environment and an analysis of their green production potential was carried out.Finally,it was necessary to establish a unified accounting standard for the ecological land saving benefits of different green production options,which could be converted into green productive land area indicators.In the case of Xuefu Street in Nankai District,Tianjin,the available rooftops and idle land were used for green production,which supplemented the ecological carrying capacity provided by the natural land occupied by 12%of the buildings in the district.
