Energy shaping for coordinating internally actuated vehicles

This paper considers the stable coordination problem of two vehicles equipping with internal moving mass actuators.The coordinating and stabilizing control are derived by energy shaping. The proposed method is physically motivated and avoids cancelation or domination of nonlinearities.

A novel induction motor control scheme using IDA-PBC

A new control scheme for induction motors is proposed in the present paper, applying the interconnection and damping assignment-passivity based control （IDA-PBC） method. The scheme is based exclusively on passivity based control, without restricting the input frequency as it is done in field oriented control （FOC）. A port-controlled Hamiltonian （PCH） model of the induction motor is deduced to make the interconnection and damping of energy explicit on the scheme. The proposed controller is validated under computational simulations and experimental tests using an inverter prototype.

Stabilization of coordinated motion for underwater vehicles

This paper presents a coordinating and stabilizing control law for a group of underwater vehicles with unstable dynamics. The coordinating law is derived from a potential that only depends on the relative configuration of the underwater vehicles. Being coordinated,the group behaves like one mechanical system with symmetry,and we focus on stabilizing a family of coordinated motions,called relative equilibria. The stabilizing law is derived using energy shaping to stabilize the relative equilibria which involve each vehicle translating along its longest（unstable） axis without spinning,while maintaining a relative configuration within the group. The proposed control law is physically motivated and avoids the linearization or cancellation of nonlinearities.

FAIRING TECHNIQUE OF THE CURVES AND SURFACES IN INDUSTRIAL STYLING DESIGN

To many industrial products such as cell phone, family appliance, vehicle, a pretty shape of nice visual effect is indispensable. To fulfill this target, designers are endeavoring to make the curve and surface of the products smooth and continuous during the shape design. Through the analysis and generalization of the present smoothing methods, the energy optimization method which combines the merits of energy method and least squares method together is studied, the target function of energy optimization method is derived, the solution to the target function and steps of curve fairing is introduced, the skills and methods building A-class surface which are based on cloud data measured from 3D scanning are studied, the validity of energy optimization method is verified with the example of the shape design ofa mini-EV as well.

Cognition,Application and Discussion on Shaped Charge Hydraulic Smooth Blasting Technology

In the past,the main method of tunnel excavation in China was drilling and blasting,but the biggest shortcoming of the traditional drilling and blasting method is that it is easy to cause serious overexcavation and underexcavation.At the same time,the operation cycle time of this method is long,which leads to a serious waste of resources.Not only that,a large number of toxic gases and dust produced after blasting also do harm to the health of construction workers.So this is an urgent need for a new construction technology to solve this worldwide problem.In this situation,the leading experts in the field of tunnel,"The survey and design master of China"Shi Yuxin,Liu Pei,and well-known expert in explosion field,yan-sheng ding,professor Chen Chengguang and Gu Yicheng,the experts group,cooperate with The Fifth Branch of China Railway 18th Bureau in northwest project management department,developed a new technology.This technology has passed the appraisal of scientific and technological achievements organized by Tianjin Science and Technology Commission,which is shaped hydraulic smooth blasting technology.The comprehensive evaluation of the technology is"international leading"level.This paper is mainly aimed at the drawbacks of drilling and blasting construction,combined with the author's cognition and discussion on the introduction of the new technology of cumulative hydraulic blasting and the practical application effect in the tunnel excavation process of the fourth company of China Railway 14th Bureau Group in the second division of the 9th bid section of Zhangjihuai Railway in Huainan Province.

Mechanism and inhibition of trisodium phosphate particle caking： Effect of particle shape and solubility

We investigated the influence of particle shape and solubility on the caking behavior of trisodium phosphate by considering the adhesion free energy and crystal bridge theory. Caking of trisodium phosphate during the drying process under static conditions is a two-step process： adhesion followed by crystal bridge formation between particles. The adhesion free energy plays an important role in adhesion. Trisodium phosphate particles cannot adhere to each other and cake when the adhesion free energy is greater than a critical value, which varies with particle shape. Compared with granular particles, cylindrical particles have larger contact area between particles, which results in more crystal bridges forming and a higher caking ratio. Thus, the critical value is about 100 mJ/m^2 for cylindrical particles, but 60 mJ/m^2 for granular particles at 25 ℃. Concerning the solubility, when particles are similar shapes and soluble in the rinsing liquid, the caking ratio has a linear relationship with adhesion free energy. However, if the particles are insoluble in the rinsing liquid, caking can be completely prevented regardless of adhesion free energy because no crystal bridges form during the growth process. Hence, caking of trisodium phosphate particles could be inhibited by screening rinsing liquids, and optimizing the particle shape and size distribution.