A neural network control scheme with mixed H2/H∞performance was proposed for robot force/position control under parameter uncertainties and external disturbances. The mixed H2/H∞tracking performance ensures both rob...A neural network control scheme with mixed H2/H∞performance was proposed for robot force/position control under parameter uncertainties and external disturbances. The mixed H2/H∞tracking performance ensures both robust stability under a prescribed attenuation level for external disturbance and H2optimal tracking. The neural network was introduced to adaptively estimate nonlinear uncertainties, improving the system’s performance under parameter uncertainties as well as obtaining the H2/H∞tracking performance. The simulation shows that the control method performs better even when the system is under large modeling uncertainties and external disturbances.展开更多
近年来,阻尼力与位移呈线性关系的新型调谐质量阻尼器(Tuned mass damper, TMD)相继出现,其参数分析优化原理大部分属于动力数值分析缺乏理论参数优化指导。该文对白噪声作用下具有上述特性的TMD,即滞变阻尼调谐质量阻尼器(Hysteretic d...近年来,阻尼力与位移呈线性关系的新型调谐质量阻尼器(Tuned mass damper, TMD)相继出现,其参数分析优化原理大部分属于动力数值分析缺乏理论参数优化指导。该文对白噪声作用下具有上述特性的TMD,即滞变阻尼调谐质量阻尼器(Hysteretic damping tuned mass damper, HD-TMD)进行减振优化研究。总结了HD-TMD的力学机理并推导出相应的结构-HD-TMD系统运动方程;提出适用于HD-TMD的H_(2)优化和性能平衡设计,并通过数值拟合技术得到了最优参数公式和基于容忍度的性能平衡设计流程;以真实可用的变摩擦摆式调谐质量阻尼器(VFP-TMD)为HD-TMD的实际算例,检验所提出的优化方法对风振激励的减振性能影响。结果表明:H_(2)优化和性能平衡设计下的HD-TMD可以提供略优于传统黏滞阻尼TMD的控制效果。H_(2)优化的最优参数能使HD-TMD发挥最大的潜能从而实现最好的减振率,但面临VFP-TMD行程过大导致的摆动非线性问题。性能平衡设计下的最优参数可以控制VFP-TMD行程在线性范围内,同时发挥出良好且稳定的减振控制效果实现双赢。与最优参数公式结果相比,性能平衡设计的峰值减振率和均方差峰值减振率仅损失3.19%和0.74%。展开更多
CO_(2) emulsions used for EOR have received a lot of interest because of its good performance on CO_(2)mobility reduction.However,most of them have been focusing on the high quality CO_(2) emulsion(high CO_(2) fractio...CO_(2) emulsions used for EOR have received a lot of interest because of its good performance on CO_(2)mobility reduction.However,most of them have been focusing on the high quality CO_(2) emulsion(high CO_(2) fraction),while CO_(2) emulsion with high water cut has been rarely researched.In this paper,we carried out a comprehensive experimental study of using high water cut CO_(2)/H_(2)O emulsion for enhancing oil recovery.Firstly,a nonionic surfactant,alkyl glycosides(APG),was selected to stabilize CO_(2)/H_(2)O emulsion,and the corresponding morphology and stability were evaluated with a transparent PVT cell.Subsequently,plugging capacity and apparent viscosity of CO_(2)/H_(2)O emulsion were measured systematically by a sand pack displacement apparatus connected with a 1.95-m long capillary tube.Furthermore,a high water cut(40 vol%) CO_(2)/H_(2)O emulsion was selected for flooding experiments in a long sand pack and a core sample,and the oil recovery,the rate of oil recovery,and the pressure gradients were analyzed.The results indicated that APG had a good performance on emulsifying and stabilizing CO_(2) emulsion.An inversion from H_(2)O/CO_(2) emulsion to CO_(2)/H_(2)O emulsion with the increase in water cut was confirmed.CO_(2)/H_(2)O emulsions with lower water cuts presented higher apparent viscosity,while the optimal plugging capacity of CO_(2)/H_(2)O emulsion occurred at a certain water cut.Eventually,the displacement using CO_(2)/H_(2)O emulsion provided 18.98% and 13.36% additional oil recovery than that using pure CO_(2) in long sand pack and core tests,respectively.This work may provide guidelines for EOR using CO_(2) emulsions with high water cut.展开更多
Biomass-H_(2)O gasification is a complex thermochemical reaction,including three processes of volatile removal:homogeneous/heterogeneous reforming,biochar gasification and etching.The rate-determining step is biochar-...Biomass-H_(2)O gasification is a complex thermochemical reaction,including three processes of volatile removal:homogeneous/heterogeneous reforming,biochar gasification and etching.The rate-determining step is biochar-H_(2)O gasification and etching so the DFT is carried out to see the catalytic role of different metal elements(K/Ni)in the zigzag biochar model.The calculation results show that the gasification of biochar-H_(2)O needs to go through four processes:dissociative adsorption of water,hydrogen transfer(hydrogen desorption,hydrogen atom transfer),carbon dissolution and CO desorption.The energy barrier indicated that the most significant step in reducing the activation energy of K is reflected in the hydrogen transfer step,which is reduced from 374.14 kJ/mol to 152.41 kJ/mol;the catalytic effect of Ni is mainly reflected in the carbon dissolution step,which is reduced from 122.34 kJ/mol to 84.8 kJ/mol.The existence of K causes the edge to have a stronger attraction to H and does not destroy theπbonds of biochar molecules.The destruction ofπbonds is mainly due to the role of H free radicals,while the destruction ofπbonds will lead to easier C-C bond rupture.Ni shows a strong attraction to O in OH,which forms strong Ni-O chemical bonds.Ni can also destroy the aromatic structure directly,making the gasification easier to happen.This study explored the catalytic mechanism of K/Ni on the biochar-H_(2)O gasification at the molecular level and looked forward to the potential synergy of K/Ni,laying a foundation for experimental research and catalyst design.展开更多
First-principles calculations are performed to investigate the relaxation and electronic properties of sulfide minerals surfaces(MoS2, Sb2S3, Cu2 S, ZnS, PbS and FeS2) in presence of H2 O molecule. The calculated resu...First-principles calculations are performed to investigate the relaxation and electronic properties of sulfide minerals surfaces(MoS2, Sb2S3, Cu2 S, ZnS, PbS and FeS2) in presence of H2 O molecule. The calculated results show that the structure and electronic properties of sulfide minerals surfaces have been influenced in presence of H2 O molecule. The adsorption of the flotation reagent at the interface of mineral-water would be different from that of mineral surface due to the changes of surface structures and electronic properties caused by H2 O molecule. Hence, the influence of H2 O molecule on the reaction of flotation reagent with sulfide mineral surface will attract more attention.展开更多
文摘A neural network control scheme with mixed H2/H∞performance was proposed for robot force/position control under parameter uncertainties and external disturbances. The mixed H2/H∞tracking performance ensures both robust stability under a prescribed attenuation level for external disturbance and H2optimal tracking. The neural network was introduced to adaptively estimate nonlinear uncertainties, improving the system’s performance under parameter uncertainties as well as obtaining the H2/H∞tracking performance. The simulation shows that the control method performs better even when the system is under large modeling uncertainties and external disturbances.
文摘近年来,阻尼力与位移呈线性关系的新型调谐质量阻尼器(Tuned mass damper, TMD)相继出现,其参数分析优化原理大部分属于动力数值分析缺乏理论参数优化指导。该文对白噪声作用下具有上述特性的TMD,即滞变阻尼调谐质量阻尼器(Hysteretic damping tuned mass damper, HD-TMD)进行减振优化研究。总结了HD-TMD的力学机理并推导出相应的结构-HD-TMD系统运动方程;提出适用于HD-TMD的H_(2)优化和性能平衡设计,并通过数值拟合技术得到了最优参数公式和基于容忍度的性能平衡设计流程;以真实可用的变摩擦摆式调谐质量阻尼器(VFP-TMD)为HD-TMD的实际算例,检验所提出的优化方法对风振激励的减振性能影响。结果表明:H_(2)优化和性能平衡设计下的HD-TMD可以提供略优于传统黏滞阻尼TMD的控制效果。H_(2)优化的最优参数能使HD-TMD发挥最大的潜能从而实现最好的减振率,但面临VFP-TMD行程过大导致的摆动非线性问题。性能平衡设计下的最优参数可以控制VFP-TMD行程在线性范围内,同时发挥出良好且稳定的减振控制效果实现双赢。与最优参数公式结果相比,性能平衡设计的峰值减振率和均方差峰值减振率仅损失3.19%和0.74%。
基金The financial supports received from the National Natural Science Foundation of China(Nos.22178378,22127812)。
文摘CO_(2) emulsions used for EOR have received a lot of interest because of its good performance on CO_(2)mobility reduction.However,most of them have been focusing on the high quality CO_(2) emulsion(high CO_(2) fraction),while CO_(2) emulsion with high water cut has been rarely researched.In this paper,we carried out a comprehensive experimental study of using high water cut CO_(2)/H_(2)O emulsion for enhancing oil recovery.Firstly,a nonionic surfactant,alkyl glycosides(APG),was selected to stabilize CO_(2)/H_(2)O emulsion,and the corresponding morphology and stability were evaluated with a transparent PVT cell.Subsequently,plugging capacity and apparent viscosity of CO_(2)/H_(2)O emulsion were measured systematically by a sand pack displacement apparatus connected with a 1.95-m long capillary tube.Furthermore,a high water cut(40 vol%) CO_(2)/H_(2)O emulsion was selected for flooding experiments in a long sand pack and a core sample,and the oil recovery,the rate of oil recovery,and the pressure gradients were analyzed.The results indicated that APG had a good performance on emulsifying and stabilizing CO_(2) emulsion.An inversion from H_(2)O/CO_(2) emulsion to CO_(2)/H_(2)O emulsion with the increase in water cut was confirmed.CO_(2)/H_(2)O emulsions with lower water cuts presented higher apparent viscosity,while the optimal plugging capacity of CO_(2)/H_(2)O emulsion occurred at a certain water cut.Eventually,the displacement using CO_(2)/H_(2)O emulsion provided 18.98% and 13.36% additional oil recovery than that using pure CO_(2) in long sand pack and core tests,respectively.This work may provide guidelines for EOR using CO_(2) emulsions with high water cut.
基金Sponsored by the National Natural Science Foundation of China(Grant No.52276180)the Natural Science Foundation of Heilongjiang Province(Grant No.YQ2022E026).
文摘Biomass-H_(2)O gasification is a complex thermochemical reaction,including three processes of volatile removal:homogeneous/heterogeneous reforming,biochar gasification and etching.The rate-determining step is biochar-H_(2)O gasification and etching so the DFT is carried out to see the catalytic role of different metal elements(K/Ni)in the zigzag biochar model.The calculation results show that the gasification of biochar-H_(2)O needs to go through four processes:dissociative adsorption of water,hydrogen transfer(hydrogen desorption,hydrogen atom transfer),carbon dissolution and CO desorption.The energy barrier indicated that the most significant step in reducing the activation energy of K is reflected in the hydrogen transfer step,which is reduced from 374.14 kJ/mol to 152.41 kJ/mol;the catalytic effect of Ni is mainly reflected in the carbon dissolution step,which is reduced from 122.34 kJ/mol to 84.8 kJ/mol.The existence of K causes the edge to have a stronger attraction to H and does not destroy theπbonds of biochar molecules.The destruction ofπbonds is mainly due to the role of H free radicals,while the destruction ofπbonds will lead to easier C-C bond rupture.Ni shows a strong attraction to O in OH,which forms strong Ni-O chemical bonds.Ni can also destroy the aromatic structure directly,making the gasification easier to happen.This study explored the catalytic mechanism of K/Ni on the biochar-H_(2)O gasification at the molecular level and looked forward to the potential synergy of K/Ni,laying a foundation for experimental research and catalyst design.
基金Project(51164001)supported by the National Natural Science Foundation of China
文摘First-principles calculations are performed to investigate the relaxation and electronic properties of sulfide minerals surfaces(MoS2, Sb2S3, Cu2 S, ZnS, PbS and FeS2) in presence of H2 O molecule. The calculated results show that the structure and electronic properties of sulfide minerals surfaces have been influenced in presence of H2 O molecule. The adsorption of the flotation reagent at the interface of mineral-water would be different from that of mineral surface due to the changes of surface structures and electronic properties caused by H2 O molecule. Hence, the influence of H2 O molecule on the reaction of flotation reagent with sulfide mineral surface will attract more attention.
基金Supported by National Basic Research Program of China （973 Program） （2005CB321902） National Natural Science Foundation of China （60727002 60774003 60921001 90916024）+2 种基金 the Commission on Science Technology and Industry for National Defense （A2120061303） the Doctoral Program Foundation of Ministry of Education of China （20030006003） the Innovation Foundation of BUAA for Ph.D. Graduates
