The distribution performance of the gravity-type liquid distributor(GTLD) significantly affects column operation efficiency and the consequent product quality. In industrial settings, maldistribution is normally consi...The distribution performance of the gravity-type liquid distributor(GTLD) significantly affects column operation efficiency and the consequent product quality. In industrial settings, maldistribution is normally considered to be caused by vertical positional or coplanarity errors stemming from deflections associated with manufacture and installation, or even by excessive weight. The lack ofestimation protocols or standards impedes the description ofthis error, which influences the corresponding outflow rates. Given this situation, the paper proposes a lumped parameter, orifice position deviation(OPD), to facilitate the calculation of the relative discharge rate error(RDRE)based on a formula derivation, which allows the systematic analysis of the influence ofa single orifice or weir OPD.The paper introduces a sensitivity factor K as a concise and unified expression in theoretical RDREs for calibrating the influence of OPD on the RDREs ofgeometrically different orifices and weirs. With respect to the GTLD, a larger K indicates the need for more strict OPD requirements. The paper verifies that the extent of GTLD outflow nonuniformity is associated with diverging tendencies regarding its morphology, especially in the orifice and weir, which can be determined using our proposed procedures.展开更多
The semi-round rigid feet would cause position-posture deviation problem because the actual foothold position is hardly known due to the rolling effect of the semi-round rigid feet during the robot walking. The positi...The semi-round rigid feet would cause position-posture deviation problem because the actual foothold position is hardly known due to the rolling effect of the semi-round rigid feet during the robot walking. The position-posture deviation problem may harm to the stability and the harmony of the robot, or even makes the robot tip over and fail to walk forward. Focused on the position-posture deviation problem of multi-legged walking robots with semi-round rigid feet, a new method of position-posture closed-loop control is proposed to solve the position-posture deviation problem caused by semi-round rigid feet, based on the inverse velocity kinematics of the multi-legged walking robots. The position-posture closed-loop control is divided into two parts: the position closed-loop control and the posture closed-loop control. Thus, the position-posture control for the robot which is a tight coupling and nonlinear system is decoupled. Co-simulations of position-posture open-loop control and position-posture closed-loop control by MATLAB and ADAMS are implemented, respectively. The co-simulation results verify that the position-posture closed-loop control performs well in solving the position-posture deviation problem caused by semi-round rigid feet.展开更多
In the vehicle trajectory application system, it is often necessary to detect whether the vehicle deviates from the specified route. Trajectory planning in the traditional route deviation detection is defined by the d...In the vehicle trajectory application system, it is often necessary to detect whether the vehicle deviates from the specified route. Trajectory planning in the traditional route deviation detection is defined by the driver through the mobile phone navigation software, which plays a more auxiliary driving role. This paper presents a method of vehicle trajectory deviation detection. Firstly, the manager customizes the trajectory planning and then uses big data technologies to match the deviation between the trajectory planning and the vehicle trajectory. Finally, it achieves the supervisory function of the manager on the vehicle track route in real-time. The results show that this method could detect the vehicle trajectory deviation quickly and accurately, and has practical application value.展开更多
文摘The distribution performance of the gravity-type liquid distributor(GTLD) significantly affects column operation efficiency and the consequent product quality. In industrial settings, maldistribution is normally considered to be caused by vertical positional or coplanarity errors stemming from deflections associated with manufacture and installation, or even by excessive weight. The lack ofestimation protocols or standards impedes the description ofthis error, which influences the corresponding outflow rates. Given this situation, the paper proposes a lumped parameter, orifice position deviation(OPD), to facilitate the calculation of the relative discharge rate error(RDRE)based on a formula derivation, which allows the systematic analysis of the influence ofa single orifice or weir OPD.The paper introduces a sensitivity factor K as a concise and unified expression in theoretical RDREs for calibrating the influence of OPD on the RDREs ofgeometrically different orifices and weirs. With respect to the GTLD, a larger K indicates the need for more strict OPD requirements. The paper verifies that the extent of GTLD outflow nonuniformity is associated with diverging tendencies regarding its morphology, especially in the orifice and weir, which can be determined using our proposed procedures.
基金Project(51221004)supported by the Science Fund for Creative Research Groups of National Natural Science Foundation of ChinaProject supported by the Program for Zhejiang Leading Team of S&T Innovation,China
文摘The semi-round rigid feet would cause position-posture deviation problem because the actual foothold position is hardly known due to the rolling effect of the semi-round rigid feet during the robot walking. The position-posture deviation problem may harm to the stability and the harmony of the robot, or even makes the robot tip over and fail to walk forward. Focused on the position-posture deviation problem of multi-legged walking robots with semi-round rigid feet, a new method of position-posture closed-loop control is proposed to solve the position-posture deviation problem caused by semi-round rigid feet, based on the inverse velocity kinematics of the multi-legged walking robots. The position-posture closed-loop control is divided into two parts: the position closed-loop control and the posture closed-loop control. Thus, the position-posture control for the robot which is a tight coupling and nonlinear system is decoupled. Co-simulations of position-posture open-loop control and position-posture closed-loop control by MATLAB and ADAMS are implemented, respectively. The co-simulation results verify that the position-posture closed-loop control performs well in solving the position-posture deviation problem caused by semi-round rigid feet.
文摘In the vehicle trajectory application system, it is often necessary to detect whether the vehicle deviates from the specified route. Trajectory planning in the traditional route deviation detection is defined by the driver through the mobile phone navigation software, which plays a more auxiliary driving role. This paper presents a method of vehicle trajectory deviation detection. Firstly, the manager customizes the trajectory planning and then uses big data technologies to match the deviation between the trajectory planning and the vehicle trajectory. Finally, it achieves the supervisory function of the manager on the vehicle track route in real-time. The results show that this method could detect the vehicle trajectory deviation quickly and accurately, and has practical application value.
