A large number of logistics operations are needed to transport fabric rolls and dye barrels to different positions in printing and dyeing plants, and increasing labor cost is making it difficult for plants to recruit ...A large number of logistics operations are needed to transport fabric rolls and dye barrels to different positions in printing and dyeing plants, and increasing labor cost is making it difficult for plants to recruit workers to complete manual operations. Artificial intelligence and robotics, which are rapidly evolving, offer potential solutions to this problem. In this paper, a navigation method dedicated to solving the issues of the inability to pass smoothly at corners in practice and local obstacle avoidance is presented. In the system, a Gaussian fitting smoothing rapid exploration random tree star-smart(GFS RRT^(*)-Smart) algorithm is proposed for global path planning and enhances the performance when the robot makes a sharp turn around corners. In local obstacle avoidance, a deep reinforcement learning determiner mixed actor critic(MAC) algorithm is used for obstacle avoidance decisions. The navigation system is implemented in a scaled-down simulation factory.展开更多
In the CO_(2)transcritical power cycle,conventional cooling water can hardly condense subcritical CO_(2)because its critical temperature is as low as 30.98°C.In order to avoid this condensing problem,CO_(2)-based...In the CO_(2)transcritical power cycle,conventional cooling water can hardly condense subcritical CO_(2)because its critical temperature is as low as 30.98°C.In order to avoid this condensing problem,CO_(2)-based mixtures have been proposed as working fluids for transcritical power cycle.They can raise the critical temperature by mixing a little C_(3)H_(8)as the secondary component to CO_(2).However,the flammability of the mixture may limit its application.This article investigated laminar flame speed of C_(3)H_(8)/CO_(2)which represents the mixture’s combustion characteristic by a so-called heat flux method and studied the inhibition mechanism of CO_(2)on the combustion based on the Premixed Laminar Flame-Speed Calculation reactor of Chemkin-Pro.The experimental results showed that the laminar flame speed shows a peak value with changing the equivalence ratio and accelerates with raising the mole fraction of the organic gas.Additionally,a slight upwards trend was observed for the corresponding equivalence ratio of the peaks.The flammable range for the equivalence ratio extended with the mole fraction of C_(3)H_(8)increasing.With the mole fraction of C_(3)H_(8)of 0.15,the maximum laminar flame speed was 12.8 cm/s,31.7%of that of the pure C_(3)H_(8).The flammable range was from 0.41 to 1.33,decreasing by 23.3%compared with that of C_(3)H_(8).A flammable critical mixing ratio was also found as 0.08/0.92 for C_(3)H_(8)/CO_(2)at the normal condition.By simulating,it was found that the most key free radical and elementary reaction which determine the inhibition of CO_(2)on the combustion are OH and H+O_(2)=O+OH,respectively.展开更多
基金National Natural Science Foundation of China (No.61903078)。
文摘A large number of logistics operations are needed to transport fabric rolls and dye barrels to different positions in printing and dyeing plants, and increasing labor cost is making it difficult for plants to recruit workers to complete manual operations. Artificial intelligence and robotics, which are rapidly evolving, offer potential solutions to this problem. In this paper, a navigation method dedicated to solving the issues of the inability to pass smoothly at corners in practice and local obstacle avoidance is presented. In the system, a Gaussian fitting smoothing rapid exploration random tree star-smart(GFS RRT^(*)-Smart) algorithm is proposed for global path planning and enhances the performance when the robot makes a sharp turn around corners. In local obstacle avoidance, a deep reinforcement learning determiner mixed actor critic(MAC) algorithm is used for obstacle avoidance decisions. The navigation system is implemented in a scaled-down simulation factory.
基金Projects 51776215 and 51736010 supported by National Natural Science Foundation of China are gratefully acknowledged.
文摘In the CO_(2)transcritical power cycle,conventional cooling water can hardly condense subcritical CO_(2)because its critical temperature is as low as 30.98°C.In order to avoid this condensing problem,CO_(2)-based mixtures have been proposed as working fluids for transcritical power cycle.They can raise the critical temperature by mixing a little C_(3)H_(8)as the secondary component to CO_(2).However,the flammability of the mixture may limit its application.This article investigated laminar flame speed of C_(3)H_(8)/CO_(2)which represents the mixture’s combustion characteristic by a so-called heat flux method and studied the inhibition mechanism of CO_(2)on the combustion based on the Premixed Laminar Flame-Speed Calculation reactor of Chemkin-Pro.The experimental results showed that the laminar flame speed shows a peak value with changing the equivalence ratio and accelerates with raising the mole fraction of the organic gas.Additionally,a slight upwards trend was observed for the corresponding equivalence ratio of the peaks.The flammable range for the equivalence ratio extended with the mole fraction of C_(3)H_(8)increasing.With the mole fraction of C_(3)H_(8)of 0.15,the maximum laminar flame speed was 12.8 cm/s,31.7%of that of the pure C_(3)H_(8).The flammable range was from 0.41 to 1.33,decreasing by 23.3%compared with that of C_(3)H_(8).A flammable critical mixing ratio was also found as 0.08/0.92 for C_(3)H_(8)/CO_(2)at the normal condition.By simulating,it was found that the most key free radical and elementary reaction which determine the inhibition of CO_(2)on the combustion are OH and H+O_(2)=O+OH,respectively.
