The key word for the design process of the photovoltaic tracking systems is the energetic efficiency. Using the tracking system, the photovoltaic panel follows the sun and increases the collected energy, but the drivi...The key word for the design process of the photovoltaic tracking systems is the energetic efficiency. Using the tracking system, the photovoltaic panel follows the sun and increases the collected energy, but the driving motors consume a part of this energy. In these terms, the optimization of the tracking systems became an important challenge in the modem research and technology. In this paper, a strategy for the dynamic optimization of the photovoltaic tracking systems is presented. The main task in optimization is to maximize the energetic gain by increasing the incoming solar radiation and minimizing the energy consumption for tracking. This strategy is possible by developing the virtual prototype of the tracking system, which is a control loop composed by the multi-body mechanical model connected with the dynamic model of the actuators and with the controller model. In this way, it is possible to optimize the tracking mechanism, choose the appropriate actuators, and design the optimal controller.展开更多
Ultrasonic speeds have been measured at 298.15 K and 308.15 K for mixtures of formamide ＋ 1 -propanol or 2-propanol. For an equimolar mixture, excess molar compressibility follows the sequence of l-propanol 〉 2-prop...Ultrasonic speeds have been measured at 298.15 K and 308.15 K for mixtures of formamide ＋ 1 -propanol or 2-propanol. For an equimolar mixture, excess molar compressibility follows the sequence of l-propanol 〉 2-propanol. The ultrasonic speed data are correlated by various correlations such as Nomoto＇s relation, van Dael＇s mixing relation and impedance dependence relation, and analyzed in terms of Jacobson＇s free length theory and Schaaffs collision factor theory. Excess isentropic compressibility is calculated from ex- perimental ultrasonic speed data and previously reported excess volume data. The excess molar ultrasonic speed and isentropic compressibility values are fitted to Redlich-Kister polynomial equation. Other proper- ties such as molecular association, available volume, free volume, and intermolecular free length are also calculated. The excess isentropic compressibility data are also interpreted in terms of graph theoretical ap- proach. The calculated isentropic compressibility values are well consistent with the experimental data. It is found that the interaction between formamide and propanol increases when hydroxyl group attached to a carbon atom has more -CH3 groups.展开更多
In order to promote the tolerance and controllability of the multi-degree-of-freedom(M-DOF) ultrasonic motor, a novel two-degree-of-freedom(2-DOF) spherical ultrasonic motor using three traveling-wave type annular sta...In order to promote the tolerance and controllability of the multi-degree-of-freedom(M-DOF) ultrasonic motor, a novel two-degree-of-freedom(2-DOF) spherical ultrasonic motor using three traveling-wave type annular stators was put forward. Firstly,the structure and working principle of this motor were introduced, especially a spiral spring as the preload applied component was designed for adaptive adjustment. Then, the friction drive model of 2-DOF spherical motor was built up from spatial geometric relation between three annular stators and the spherical rotor which was used to analyze the mechanical characteristics of the motor.The optimal control strategy for minimum norm solution of three stators' angular velocity was proposed, using Moore-Penrose generalized inverse matrix. Finally, a 2-DOF prototype was fabricated and tested, which ran stably and controllably. The maximum no-load velocity and stall torque are 92 r/min and 90 m N·m, respectively. The 2-DOF spherical ultrasonic motor has compact structure, easy assembly, good performance and stable operation.展开更多
This paper presents an automatic compensation algorithm for needle tip displacement in order to keep the needle tip always fixed at the skin entry point in the process of needle orientation in robot-assisted percutane...This paper presents an automatic compensation algorithm for needle tip displacement in order to keep the needle tip always fixed at the skin entry point in the process of needle orientation in robot-assisted percutaneous surgery. The algorithm, based on a two-degree-of-freedom （2-DOF） robot wrist （not the mechanically constrained remote center of motion （RCM） mechanism） and a 3-DOF robot ann, firstly calculates the needle tip displacement caused by rotational motion of robot wrist in the arm coordinate frame using the robotic forward kinematics, and then inversely compensates for the needle tip displace- ment by real-time Cartesian motion of robot arm. The algorithm achieves the function of the RCM and eliminates many mechanical and virtual constraints caused by the RCM mechanism. Experimental result demonstrates that the needle tip displacement is within 1 inm in the process of needle orientation.展开更多
We consider a singular perturbation problem which describes 2D Darcy-Stokes flow. An H（div）- conforming rectangular element, DS-R14, is proposed and analyzed first. This element has 14 degrees of freedom for velocit...We consider a singular perturbation problem which describes 2D Darcy-Stokes flow. An H（div）- conforming rectangular element, DS-R14, is proposed and analyzed first. This element has 14 degrees of freedom for velocity and is proved to be uniformly convergent with respect to perturbation constant. We then simplify this element to get another H（div）-conforming rectangular element, DS-R12, which has 12 degrees of freedom for velocity. The uniform convergence is also obtained for this element. Finally, we construct a de Rham complex corresponding to DS-R12 element.展开更多
文摘The key word for the design process of the photovoltaic tracking systems is the energetic efficiency. Using the tracking system, the photovoltaic panel follows the sun and increases the collected energy, but the driving motors consume a part of this energy. In these terms, the optimization of the tracking systems became an important challenge in the modem research and technology. In this paper, a strategy for the dynamic optimization of the photovoltaic tracking systems is presented. The main task in optimization is to maximize the energetic gain by increasing the incoming solar radiation and minimizing the energy consumption for tracking. This strategy is possible by developing the virtual prototype of the tracking system, which is a control loop composed by the multi-body mechanical model connected with the dynamic model of the actuators and with the controller model. In this way, it is possible to optimize the tracking mechanism, choose the appropriate actuators, and design the optimal controller.
文摘Ultrasonic speeds have been measured at 298.15 K and 308.15 K for mixtures of formamide ＋ 1 -propanol or 2-propanol. For an equimolar mixture, excess molar compressibility follows the sequence of l-propanol 〉 2-propanol. The ultrasonic speed data are correlated by various correlations such as Nomoto＇s relation, van Dael＇s mixing relation and impedance dependence relation, and analyzed in terms of Jacobson＇s free length theory and Schaaffs collision factor theory. Excess isentropic compressibility is calculated from ex- perimental ultrasonic speed data and previously reported excess volume data. The excess molar ultrasonic speed and isentropic compressibility values are fitted to Redlich-Kister polynomial equation. Other proper- ties such as molecular association, available volume, free volume, and intermolecular free length are also calculated. The excess isentropic compressibility data are also interpreted in terms of graph theoretical ap- proach. The calculated isentropic compressibility values are well consistent with the experimental data. It is found that the interaction between formamide and propanol increases when hydroxyl group attached to a carbon atom has more -CH3 groups.
基金Project(51107111)supported by the National Natural Science Foundation of China
文摘In order to promote the tolerance and controllability of the multi-degree-of-freedom(M-DOF) ultrasonic motor, a novel two-degree-of-freedom(2-DOF) spherical ultrasonic motor using three traveling-wave type annular stators was put forward. Firstly,the structure and working principle of this motor were introduced, especially a spiral spring as the preload applied component was designed for adaptive adjustment. Then, the friction drive model of 2-DOF spherical motor was built up from spatial geometric relation between three annular stators and the spherical rotor which was used to analyze the mechanical characteristics of the motor.The optimal control strategy for minimum norm solution of three stators' angular velocity was proposed, using Moore-Penrose generalized inverse matrix. Finally, a 2-DOF prototype was fabricated and tested, which ran stably and controllably. The maximum no-load velocity and stall torque are 92 r/min and 90 m N·m, respectively. The 2-DOF spherical ultrasonic motor has compact structure, easy assembly, good performance and stable operation.
文摘This paper presents an automatic compensation algorithm for needle tip displacement in order to keep the needle tip always fixed at the skin entry point in the process of needle orientation in robot-assisted percutaneous surgery. The algorithm, based on a two-degree-of-freedom （2-DOF） robot wrist （not the mechanically constrained remote center of motion （RCM） mechanism） and a 3-DOF robot ann, firstly calculates the needle tip displacement caused by rotational motion of robot wrist in the arm coordinate frame using the robotic forward kinematics, and then inversely compensates for the needle tip displace- ment by real-time Cartesian motion of robot arm. The algorithm achieves the function of the RCM and eliminates many mechanical and virtual constraints caused by the RCM mechanism. Experimental result demonstrates that the needle tip displacement is within 1 inm in the process of needle orientation.
基金supported by National Natural Science Foundation of China(Grant No.11071226)the Hong Kong Research Grants Council(Grant No.201112)
文摘We consider a singular perturbation problem which describes 2D Darcy-Stokes flow. An H（div）- conforming rectangular element, DS-R14, is proposed and analyzed first. This element has 14 degrees of freedom for velocity and is proved to be uniformly convergent with respect to perturbation constant. We then simplify this element to get another H（div）-conforming rectangular element, DS-R12, which has 12 degrees of freedom for velocity. The uniform convergence is also obtained for this element. Finally, we construct a de Rham complex corresponding to DS-R12 element.
