The article proposes to use the Euler equations to describe the motion of a stationary stream in the cleaning zones, which allows us to determine the laws of the distribution of pressure, density and speed along the a...The article proposes to use the Euler equations to describe the motion of a stationary stream in the cleaning zones, which allows us to determine the laws of the distribution of pressure, density and speed along the arc of contact of the moving layer of raw cotton with the surface of the mesh during impact with spikes on the pulp. It was found that the pressure, density and flow velocity along the cleaning arc as a result of the hammer spikes change stepwise with decreasing pressure and density and increasing flow velocity along this arc.展开更多
For human assistance device, the particular properties are usually focused on high precision, compliant interaction, large torque generation and compactness of the mechanical system. To realize the high performance of...For human assistance device, the particular properties are usually focused on high precision, compliant interaction, large torque generation and compactness of the mechanical system. To realize the high performance of lower extremity augmentation device, in this paper, we introduce a novel control methodology for compact elastic module. Based on the previous work, the elastic module consists of two parts, i.e., the proximal interaction module and the distal control module. To improve the compactness of the exoskeleton, we only employ the distal control module to achieve both purposes of precision force control and human intention recognition with physical human-machine interaction. In addition, a novel control methodology, so-called high precision data-driven force control with disturbance observer is adopted in this paper. To assess our proposed control methodology, we compare our novel force control with several other control methodologies on the lower extremity augmentation single leg exoskeleton system. The experiment shows a satisfying result and promising application feasibility of the proposed control methodology.展开更多
文摘The article proposes to use the Euler equations to describe the motion of a stationary stream in the cleaning zones, which allows us to determine the laws of the distribution of pressure, density and speed along the arc of contact of the moving layer of raw cotton with the surface of the mesh during impact with spikes on the pulp. It was found that the pressure, density and flow velocity along the cleaning arc as a result of the hammer spikes change stepwise with decreasing pressure and density and increasing flow velocity along this arc.
基金Part of this work was supported by the National Science Foundation of China under Grant No. 51521003.
文摘For human assistance device, the particular properties are usually focused on high precision, compliant interaction, large torque generation and compactness of the mechanical system. To realize the high performance of lower extremity augmentation device, in this paper, we introduce a novel control methodology for compact elastic module. Based on the previous work, the elastic module consists of two parts, i.e., the proximal interaction module and the distal control module. To improve the compactness of the exoskeleton, we only employ the distal control module to achieve both purposes of precision force control and human intention recognition with physical human-machine interaction. In addition, a novel control methodology, so-called high precision data-driven force control with disturbance observer is adopted in this paper. To assess our proposed control methodology, we compare our novel force control with several other control methodologies on the lower extremity augmentation single leg exoskeleton system. The experiment shows a satisfying result and promising application feasibility of the proposed control methodology.
