Optimal Design of the Modular Joint Drive Train for Enhancing Cobot Load Capacity and Dynamic Performance

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.

Design and optimization of fluid lubricated bearings operated with extreme working performances——a comprehensive review

Fluid lubricated bearings have been widely adopted as support components for high-end equipment in metrology,semiconductor devices,aviation,strategic defense,ultraprecision manufacturing,medical treatment,and power generation.In all these applications,the equipment must deliver extreme working performances such as ultraprecise movement,ultrahigh rotation speed,ultraheavy bearing loads,ultrahigh environmental temperatures,strong radiation resistance,and high vacuum operation,which have challenged the design and optimization of reliable fluid lubricated bearings.Breakthrough of any related bottlenecks will promote the development course of high-end equipment.To promote the advancement of high-end equipment,this paper reviews the design and optimization of fluid lubricated bearings operated at typical extreme working performances,targeting the realization of extreme working performances,current challenges and solutions,underlying deficiencies,and promising developmental directions.This paper can guide the selection of suitable fluid lubricated bearings and optimize their structures to meet their required working performances.

Thermal performance of cast-in-place piles with artificial ground freezing in permafrost regions

During the construction of cast-in-place piles in warm permafrost,the heat carried by concrete and the cement hydration reaction can cause strong thermal disturbance to the surrounding permafrost.Since the bearing capacity of the pile is quite small before the full freeze-back,the quick refreezing of the native soils surrounding the cast-in-place pile has become the focus of the infrastructure construction in permafrost.To solve this problem,this paper innovatively puts forward the application of the artificial ground freezing(AGF)method at the end of the curing period of cast-in-place piles in permafrost.A field test on the AGF was conducted at the Beiluhe Observation and Research Station of Frozen Soil Engineering and Environment(34°51.2'N,92°56.4'E)in the Qinghai Tibet Plateau(QTP),and then a 3-D numerical model was established to investigate the thermal performance of piles using AGF under different engineering conditions.Additionally,the long-term thermal performance of piles after the completion of AGF under different conditions was estimated.Field experiment results demonstrate that AGF is an effective method to reduce the refreezing time of the soil surrounding the piles constructed in permafrost terrain,with the ability to reduce the pile-soil interface temperatures to below the natural ground temperature within 3 days.Numerical results further prove that AGF still has a good cooling effect even under unfavorable engineering conditions such as high pouring temperature,large pile diameter,and large pile length.Consequently,the application of this method is meaningful to save the subsequent latency time and solve the problem of thermal disturbance in pile construction in permafrost.The research results are highly relevant for the spread of AGF technology and the rapid building of pile foundations in permafrost.

Ballistic performance of additive manufacturing 316l stainless steel projectiles based on topology optimization method

Material and structure made by additive manufacturing(AM)have received much attention lately due to their flexibility and ability to customize complex structures.This study first implements multiple objective topology optimization simulations based on a projectile perforation model,and a new topologic projectile is obtained.Then two types of 316L stainless steel projectiles(the solid and the topology)are printed in a selective laser melt(SLM)machine to evaluate the penetration performance of the projectiles by the ballistic test.The experiment results show that the dimensionless specific kinetic energy value of topologic projectiles is higher than that of solid projectiles,indicating the better penetration ability of the topologic projectiles.Finally,microscopic studies(scanning electron microscope and X-ray micro-CT)are performed on the remaining projectiles to investigate the failure mechanism of the internal structure of the topologic projectiles.An explicit dynamics simulation was also performed,and the failure locations of the residual topologic projectiles were in good agreement with the experimental results,which can better guide the design of new projectiles combining AM and topology optimization in the future.

Composition optimization and performance prediction for ultra-stable water-based aerosol based on thermodynamic entropy theory

Water-based aerosol is widely used as an effective strategy in electro-optical countermeasure on the battlefield used to the preponderance of high efficiency,low cost and eco-friendly.Unfortunately,the stability of the water-based aerosol is always unsatisfactory due to the rapid evaporation and sedimentation of the aerosol droplets.Great efforts have been devoted to improve the stability of water-based aerosol by using additives with different composition and proportion.However,the lack of the criterion and principle for screening the effective additives results in excessive experimental time consumption and cost.And the stabilization time of the aerosol is still only 30 min,which could not meet the requirements of the perdurable interference.Herein,to improve the stability of water-based aerosol and optimize the complex formulation efficiently,a theoretical calculation method based on thermodynamic entropy theory is proposed.All the factors that influence the shielding effect,including polyol,stabilizer,propellant,water and cosolvent,are considered within calculation.An ultra-stable water-based aerosol with long duration over 120 min is obtained with the optimal fogging agent composition,providing enough time for fighting the electro-optic weapon.Theoretical design guideline for choosing the additives with high phase transition temperature and low phase transition enthalpy is also proposed,which greatly improves the total entropy change and reduce the absolute entropy change of the aerosol cooling process,and gives rise to an enhanced stability of the water-based aerosol.The theoretical calculation methodology contributes to an abstemious time and space for sieving the water-based aerosol with desirable performance and stability,and provides the powerful guarantee to the homeland security.

Optimization performance of quantum endoreversible Otto machines with dual-squeezed reservoirs

We consider a quantum endoreversible Otto engine cycle and its inverse operation-Otto refrigeration cycle,employing two-level systems as the working substance and operating in dual-squeezed reservoirs.We demonstrate that the efficiency of heat engines at maximum work output and the coefficient of performance for refrigerators at the maximum c criterion will degenerate toη-=η_(C)/(2-η_(C))andε-=(√9+8ε_(C)-3)/2 when symmetric squeezing is satisfied,respectively.We also investigated the influences of squeezing degree on the performance optimization of quantum Otto heat engines at the maximum work output and refrigerators at the maximum X criterion.These analytical results show that the efficiency of heat engines at maximum work output and the coefficient of performance for refrigerators at the maximum X criterion can be improved,reduced or even inhibited in asymmetric squeezing.Furthermore,we also find that the efficiency of quantum Otto heat engines at maximum work output is lower than that obtained from the Otto heat engines based on a single harmonic oscillator system.However,the coefficient of performance of the corresponding refrigerator is higher.

Performance optimization of a SERF atomic magnetometer based on flat-top light beam

We explore the impact of pumping beams with different transverse intensity profiles on the performance of the spinexchange relaxation-free(SERF) atomic magnetometers(AMs). We conduct experiments comparing the traditional Gaussian optically-pumped AM with that utilizing the flat-top optically-pumped(FTOP) method. Our findings reveal that the FTOP-based approach outperforms the conventional method, exhibiting a larger response, a narrower magnetic resonance linewidth, and a superior low-frequency noise performance. Specifically, the use of FTOP method leads to a 16% enhancement in average sensitivity within 1 Hz–30 Hz frequency range. Our research emphasizes the significance of achieving transverse polarization uniformity in AMs, providing insights for future optimization efforts and sensitivity improvements in miniaturized magnetometers.

A PID Tuning Approach for Inertial Systems Performance Optimization

In the practice of control the industrial processes, proportional-integral-derivative controller remains pivotal due to its simple structure and system performance-oriented tuning process. In this paper are presented two approaches for synthesis the proportional-integral-derivative controller to the models of objects with inertia, that offer the procedure of system performance optimization based on maximum stability degree criterion. The proposed algorithms of system performance optimization were elaborated for model of objects with inertia second and third order and offer simple analytical expressions for tuning the PID controller. Validation and verification are conducted through computer simulations using MATLAB, demonstrating successful performance optimization and showcasing the effectiveness PID controllers’ tuning. The proposed approaches contribute insights to the field of control, offering a pathway for optimizing the performance of second and third-order inertial systems through robust controller synthesis.

Research on the Optimization of Green Building Performance Based on BIM Technology

With the acceleration of urbanization,the construction industry has developed rapidly worldwide but has also brought serious environmental problems.Traditional architectural design methods often only focus on the function and beauty of the building while ignoring its impact on the environment.In addition,the lack of effective design and construction management methods also led to high resource and energy consumption.To overcome this challenge,the concept of green building came into being.Green buildings emphasize reducing the negative impact of buildings on the environment and improving resource utilization efficiency throughout the entire life cycle.BIM technology provides strong support for achieving this goal.Based on this,starting from the role of BIM technology in green building performance optimization,this article analyzes the optimization of green building performance solutions based on BIM technology in detail to promote the sustainable development of buildings.

Optimization and Performance Analysis of Intelligent Video AI Dynamic

In today’s information age,video data,as an important carrier of information,is growing explosively in terms of production volume.The quick and accurate extraction of useful information from massive video data has become a focus of research in the field of computer vision.AI dynamic recognition technology has become one of the key technologies to address this issue due to its powerful data processing capabilities and intelligent recognition functions.Based on this,this paper first elaborates on the development of intelligent video AI dynamic recognition technology,then proposes several optimization strategies for intelligent video AI dynamic recognition technology,and finally analyzes the performance of intelligent video AI dynamic recognition technology for reference.

Optimal Design of a Main Driving Mechanism for Servo Punch Press Based on Performance Atlases

The servomotor drive turret punch press is attracting more attentions and being developed more intensively due to the advantages of high speed,high accuracy,high flexibility,high productivity,low noise,cleaning and energy saving.To effectively improve the performance and lower the cost,it is necessary to develop new mechanisms and establish corresponding optimal design method with uniform performance indices.A new patented main driving mechanism and a new optimal design method are proposed.In the optimal design,the performance indices,i.e.,the local motion/force transmission indices ITI,OTI,good transmission workspace good transmission workspace(GTW) and the global transmission indices GTIs are defined.The non-dimensional normalization method is used to get all feasible solutions in dimensional synthesis.Thereafter,the performance atlases,which can present all possible design solutions,are depicted.As a result,the feasible solution of the mechanism with good motion/force transmission performance is obtained.And the solution can be flexibly adjusted by designer according to the practical design requirements.The proposed mechanism is original,and the presented design method provides a feasible solution to the optimal design of the main driving mechanism for servo punch press.

Effect of calibration data series length on performance and optimal parameters of hydrological model

In order to assess the effects of calibration data series length on the performance and optimal parameter values of a hydrological model in ungauged or data-limited catchments （data are non-continuous and fragmental in some catchments）, we used non-continuous calibration periods for more independent streamflow data for SIMHYD （simple hydrology） model calibration. Nash-Sutcliffe efficiency and percentage water balance error were used as performance measures. The particle swarm optimization （PSO） method was used to calibrate the rainfall-runoff models. Different lengths of data series ranging from one year to ten years, randomly sampled, were used to study the impact of calibration data series length. Fifty-five relatively unimpaired catchments located all over Australia with daily precipitation, potential evapotranspiration, and streamflow data were tested to obtain more general conclusions. The results show that longer calibration data series do not necessarily result in better model performance. In general, eight years of data are sufficient to obtain steady estimates of model performance and parameters for the SIMHYD model. It is also shown that most humid catchments require fewer calibration data to obtain a good performance and stable parameter values. The model performs better in humid and semi-humid catchments than in arid catchments. Our results may have useful and interesting implications for the efficiency of using limited observation data for hydrological model calibration in different climates.

Yield performance and optimal nitrogen and phosphorus application rates in wheat and faba bean intercropping

Yield performance in cereal and legume intercropping is related to nutrient management,however,the yield response of companion crops to nitrogen(N)input is inconclusive and only limited efforts have focused on rationed phosphorous(P)fertilization.In this study,two multi-year field experiments were implemented from 2014-2019 under identical conditions.Two factors in a randomized complete block design were adopted in both experiments.In field experiment 1,the two factors included three planting patterns(mono-cropped wheat(MW),mono-cropped faba bean(MF),and wheat and faba bean intercropping(W//F))and four N application rates(N0,0 kg N ha^(-1);N1,90 and 45 kg N ha^(-1) for wheat and faba beans,respectively;N2,180 and 90 kg N ha^(-1) for wheat and faba beans,respectively;and N3,270 and 135 kg N ha^(-1) for wheat and faba beans,respectively).In field experiment 2,the two factors included three P application rates(P0,0 kg P_(2)O_(5) ha^(-1);P1,45 kg P_(2)O_(5) ha^(-1);and P2,90 kg P_(2)O_(5) ha^(-1))and the same three planting patterns(MW,MF,and W//F).The yield performances of inter-and mono-cropped wheat and faba beans under different N and P application rates were analyzed and the optimal N and P rates for intercropped wheat(IW)and MW were estimated.The results revealed that intercropping favored wheat yield and was adverse to faba bean yield.Wheat yield increased by 18-26%,but faba bean yield decreased by 5-21% in W//F compared to MW and MF,respectively.The stimulated IW yield drove the yield advantage in W//F with an average land equivalent ratio(LER)of 1.12.N and P fertilization benefited IW yield,but reduced intercropped faba bean(IF)yield.Nevertheless,the partial LER of wheat(pLER_(wheat))decreased with increasing N application rates,and the partial LER of faba bean(pLER_(faba bean))decreased with increasing P application rates.Thus,LER decreased as N input increased and tended to decline as P rates increased.IW maintained a similar yield as MW,even under reduced 40-50% N fertilizer and 30-40% P fertilizer conditions.The estimated optimum N application rates for IW and MW were 150 and 168 kg ha^(-1),respectively,and 63 and 62 kg ha^(-1) for P_(2)O_(5),respectively.In conclusion,W//F exhibited yield advantages due to stimulated IW yield,but the intercropping yield benefit decreased as N and P inputs increased.Thus,it was concluded that modulated N and P rates could maximize the economic and ecological functions of intercropping.Based on the results,rates of 150 kg N ha^(-1) and 60 kg P_(2)O_(5) ha^(-1) are recommended for IW production in southwestern China and places with similar conditions.

Randomized Algorithms for Probabilistic Optimal Robust Performance Controller Design

Polynomial-time randomized algorithms were constructed to approximately solve optimal robust performance controller design problems in probabilistic sense and the rigorous mathematical justification of the approach was given. The randomized algorithms here were based on a property from statistical learning theory known as (uniform) convergence of empirical means (UCEM). It is argued that in order to assess the performance of a controller as the plant varies over a pre-specified family, it is better to use the average performance of the controller as the objective function to be optimized, rather than its worst-case performance. The approach is illustrated to be efficient through an example.

Development of Optimal Structural System for Hybrid Cable-Stayed Bridges Using Ultra High Performance Concrete

This study developed an optimal structural system for the hybrid cable-stayed bridge expected to have a durable lifetime of 200 years and of which major structural members are made of ultra high performance concrete (UHPC) with 200 MPa-class compressive strength. This innovative cable-stayed bridge system makes it possible to reduce each of the construction and maintenance costs by 20% compared to the conventional concrete cable-stayed bridge by improving significantly the weight and durability of the bridge. Therefore, detail design is carried out considering a real 800 m cable-stayed bridge and the optimal structure of the hybrid cable-stayed bridge is proposed and verified.

Constitution of Hamiltonian Function and Solution of Optimal Control of a Sort of Performance Index

Hamiltonian function is firstly constituted for solving optimal control. When character of controlled object is known,Hamiltonian function is determined by performance index. In this paper,by constituting Hamiltonian function and solving optimal control of a sort of performance index,we can understand optimal control theory and apply optimal control method better.

BER Performance of Finite in Time Optimal FTN Signals for the Viterbi Algorithm

In this article, we consider the faster than Nyquist(FTN) technology in aspects of the application of the Viterbi algorithm(VA). Finite in time optimal FTN signals are used to provide a symbol rate higher than the "Nyquist barrier" without any encoding. These signals are obtained as the solutions of the corresponding optimization problem. Optimal signals are characterized by intersymbol interference(ISI). This fact leads to significant bit error rate(BER) performance degradation for "classical" forms of signals. However, ISI can be controlled by the restriction of the optimization problem. So we can use optimal signals in conditions of increased duration and an increased symbol rate without significant energy losses. The additional symbol rate increase leads to the increase of the reception algorithm complexity. We consider the application of VA for optimal FTN signals reception. The application of VA for receiving optimal FTN signals with increased duration provides close to the potential performance of BER,while the symbol rate is twice above the Nyquist limit.

Optimal Performance Analysis of a Three-Terminal Thermoelectric Refrigerator with Ideal Tunneling Quantum Dots

The model of a three-terminal thermoelectric refrigerator with ideal tunneling quantum dots is established. It consists of a cavity connected to two quantum dots embedded between two electron reservoirs at different temperatures and chemical potentials. According to the Landauer formula the expressions for the heat current, the cooling rate and the coefficient of performance （COP） are derived analytically. The performance characteristic curves of the cooling rate versus the coefficient of performance are plotted with numerical calculation. The optimal regions of the cooling rate and the COP are determined. Moreover, we optimize the cooling rate and the COP with respect to the position of energy level of the right quantum dot, respectively. The influence of the width of energy level and the temperature ratio on performance of the three-terminal thermoelectric refrigerator is analyzed. Lastly, when the width of energy level is small enough, the optimal performance of the refrigerator is discussed in detail.

Study on Government Performance Evaluation and Optimal Countermeasures of Sewage Treatment in Beijing City

In this paper,from the three dimensions of development quality,sustainable development and public satisfaction,the index system of government performance evaluation of wastewater treatment in Beijing City was constructed by conversion of critical success factor method.Using comprehensive evaluation method based on entropy weight method and principal component analysis method,the sewage treatment effect of Beijing municipal government from 2010 to 2017 was quantified,and the government s sewage treatment work was comprehensively evaluated.The evaluation results showed that the government has achieved remarkable results in sewage treatment,but it should continue to optimize the countermeasures in promoting the transformation and upgrading of economic structure,strengthening the management of urban sewage treatment and strict management system of water environment.

Performance Optimization of Agricultural Machinery Monitoring WebGIS System Based on ASP.NET

ASP.NET-based agricultural machinery monitoring WEBGIS is flexible and dynamic,but this flexibility and dynamic characteristics reduce the performance of WEBGIS.Therefore,it is necessary to use built-in optimization features of.NET Framework,some performance optimization techniques in program design and ASP.NET cache technology to reduce the loading of server,and make the designed system work more efficiently.