Automation advancements prompts the extensive integration of collaborative robot(cobot)across a range of industries.Compared to the commonly used design approach of increasing the payload-to-weight ratio of cobot to e...Automation advancements prompts the extensive integration of collaborative robot(cobot)across a range of industries.Compared to the commonly used design approach of increasing the payload-to-weight ratio of cobot to enhance load capacity,equal attention should be paid to the dynamic response characteristics of cobot during the design process to make the cobot more flexible.In this paper,a new method for designing the drive train parameters of cobot is proposed.Firstly,based on the analysis of factors influencing the load capacity and dynamic response characteristics,design criteria for both aspects are established for cobot with all optimization design criteria normalized within the design domain.Secondly,with the cobot in the horizontal pose,the motor design scheme is discretized and it takes the joint motor diameter and gearbox speed ratio as optimization design variables.Finally,all the discrete values of the optimization objectives are obtained through the enumeration method and the Pareto front is used to select the optimal solution through multi-objective optimization.Base on the cobot design method proposed in this paper,a six-axis cobot is designed and compared with the commercial cobot.The result shows that the load capacity of the designed cobot in this paper reaches 8.4 kg,surpassing the 5 kg load capacity commercial cobot which is used as a benchmark.The minimum resonance frequency of the joints is 42.70 Hz.展开更多
Joint toxicity of Beauveria bassiana and two insect growth regulators, methoxyfenozide and hexaflumuron, on beet annywonn larvae, Spodoptera exigua （ Htthner）, were investigated. An obvious synergism effect of the t...Joint toxicity of Beauveria bassiana and two insect growth regulators, methoxyfenozide and hexaflumuron, on beet annywonn larvae, Spodoptera exigua （ Htthner）, were investigated. An obvious synergism effect of the two insect growth regulators with B. beauveria was observed. When the insect growth regulators at LC50 concentrations （25 × 10^-6 g/L for methoxyfenozide and 1 000 × 10^ -6 g/L for hexaflumuren） were mixed with B. bassiana at the volume ratio of 4： 1, the mixtures achieved the best efficacy. The co-toxicity co-efficient （CTC） of methexyfenozide and B. bass/ana was 285, and that of hexaflumuron and B. bass/ana was 208. Scanning electron microscope observation of the longitudinal section of S. exigua revealed obviously different patterns of integument in different treatment groups.展开更多
电-热综合能源系统(integrated electricity and heat system,IEHS)可以有效促进可再生能源消纳。构建区域供热系统精细化模型与合理的可再生能源不确定性出力模型是调度IEHS的两个难点。该文首先提出计及可变流量调节模式的IEHS条件分...电-热综合能源系统(integrated electricity and heat system,IEHS)可以有效促进可再生能源消纳。构建区域供热系统精细化模型与合理的可再生能源不确定性出力模型是调度IEHS的两个难点。该文首先提出计及可变流量调节模式的IEHS条件分布鲁棒优化调度模型,主要有两点改进:通过构建基于修正模糊集的条件分布鲁棒模型建模可再生能源预测误差与其预测出力信息之间的内在依赖性,提升调度结果安全性与最优性;基于流体能量守恒方程与一阶隐式迎风格式建立可变流量调节模式下的IEHS调度模型,以期充分挖掘区域供热系统的灵活性,促进可再生能源消纳。所构建的IEHS调度模型为含有大量非线性约束的条件分布鲁棒模型,难以直接求解。对此,通过对偶理论与条件风险价值近似方法将条件分布鲁棒模型转化为含非线性约束的确定性模型,并提出自适应McCormick算法用以求解非线性约束。通过不同规模案例仿真表明,所提模型能够降低IEHS的调度成本,所提算法在保证可行性的条件下快速求出问题的近似最优解,最优间隙小于千分之一。展开更多
基金Supported by National Key Research and Development Program of China (Grant Nos.2022YFB4703000,2019YFB1309900)。
文摘Automation advancements prompts the extensive integration of collaborative robot(cobot)across a range of industries.Compared to the commonly used design approach of increasing the payload-to-weight ratio of cobot to enhance load capacity,equal attention should be paid to the dynamic response characteristics of cobot during the design process to make the cobot more flexible.In this paper,a new method for designing the drive train parameters of cobot is proposed.Firstly,based on the analysis of factors influencing the load capacity and dynamic response characteristics,design criteria for both aspects are established for cobot with all optimization design criteria normalized within the design domain.Secondly,with the cobot in the horizontal pose,the motor design scheme is discretized and it takes the joint motor diameter and gearbox speed ratio as optimization design variables.Finally,all the discrete values of the optimization objectives are obtained through the enumeration method and the Pareto front is used to select the optimal solution through multi-objective optimization.Base on the cobot design method proposed in this paper,a six-axis cobot is designed and compared with the commercial cobot.The result shows that the load capacity of the designed cobot in this paper reaches 8.4 kg,surpassing the 5 kg load capacity commercial cobot which is used as a benchmark.The minimum resonance frequency of the joints is 42.70 Hz.
基金Supported by National Key Technology Support Program(2012BAD19B01)
文摘Joint toxicity of Beauveria bassiana and two insect growth regulators, methoxyfenozide and hexaflumuron, on beet annywonn larvae, Spodoptera exigua （ Htthner）, were investigated. An obvious synergism effect of the two insect growth regulators with B. beauveria was observed. When the insect growth regulators at LC50 concentrations （25 × 10^-6 g/L for methoxyfenozide and 1 000 × 10^ -6 g/L for hexaflumuren） were mixed with B. bassiana at the volume ratio of 4： 1, the mixtures achieved the best efficacy. The co-toxicity co-efficient （CTC） of methexyfenozide and B. bass/ana was 285, and that of hexaflumuron and B. bass/ana was 208. Scanning electron microscope observation of the longitudinal section of S. exigua revealed obviously different patterns of integument in different treatment groups.
文摘电-热综合能源系统(integrated electricity and heat system,IEHS)可以有效促进可再生能源消纳。构建区域供热系统精细化模型与合理的可再生能源不确定性出力模型是调度IEHS的两个难点。该文首先提出计及可变流量调节模式的IEHS条件分布鲁棒优化调度模型,主要有两点改进:通过构建基于修正模糊集的条件分布鲁棒模型建模可再生能源预测误差与其预测出力信息之间的内在依赖性,提升调度结果安全性与最优性;基于流体能量守恒方程与一阶隐式迎风格式建立可变流量调节模式下的IEHS调度模型,以期充分挖掘区域供热系统的灵活性,促进可再生能源消纳。所构建的IEHS调度模型为含有大量非线性约束的条件分布鲁棒模型,难以直接求解。对此,通过对偶理论与条件风险价值近似方法将条件分布鲁棒模型转化为含非线性约束的确定性模型,并提出自适应McCormick算法用以求解非线性约束。通过不同规模案例仿真表明,所提模型能够降低IEHS的调度成本,所提算法在保证可行性的条件下快速求出问题的近似最优解,最优间隙小于千分之一。
