Detumbling operation toward a rotating target with nutation is meaningful for debris removal but challenging. In this study, a deformable end-effector is first designed based on the requirements for contacting the nut...Detumbling operation toward a rotating target with nutation is meaningful for debris removal but challenging. In this study, a deformable end-effector is first designed based on the requirements for contacting the nutating target. A dual-arm robotic system installed with the deformable end-effectors is modeled and the movement of the end-tips is analyzed. The complex operation of the contact toward a nutating target places strict requirements on control accuracy and controller robustness. Thus, an improvement of the tracking error transformation is proposed and an adaptive sliding mode controller with prescribed performance is designed to guarantee the fast and precise motion of the effector during the contact detumbling.Finally, by employing the proposed effector and the controller,numerical simulations are carried out to verify the effectiveness and efficiency of the contact detumbling toward a nutating target.展开更多
By analyzing the characteristics and the production mechanism of rock burstthat goes with abnormal gas emission in deep coal seams,the essential method of eliminatingabnormal gas emission by eliminating the occurrence...By analyzing the characteristics and the production mechanism of rock burstthat goes with abnormal gas emission in deep coal seams,the essential method of eliminatingabnormal gas emission by eliminating the occurrence of rock burst or depressingthe magnitude of rock burst was considered.The No.237 working face was selected asthe typical working face contacting gas in deep mining;aimed at this working face,a systemof rock burst prediction and control for coal seam contacting gas in deep mining wasestablished.This system includes three parts:① regional prediction of rock burst hazardbefore mining,② local prediction of rock burst hazard during mining,and ③ rock burstcontrol.展开更多
Purpose: The purpose of this study was to evaluate the change in corneal wavefront aberrations in young adults who have been fit with multifocal soft contact lenses for myopia progression control. Findings have been a...Purpose: The purpose of this study was to evaluate the change in corneal wavefront aberrations in young adults who have been fit with multifocal soft contact lenses for myopia progression control. Findings have been analyzed for statistical significance and clinical relevance and compared to reportedly successful Orthokeratology outcomes. Methods: The dominant eye of 40 participants (27 women, 13 men;mean age 27.3 ± 3.2 years;range 23 to 39 years) was fit with Proclear Multifocal center distance lenses (Coopervision, Pleasanton, USA) having a variety of distance powers and reading additions. Refractive errors were limited to a range of –6.00 D up to +1.00 D of sphere, and no greater than –1.00 D of cylinder. Corneal wavefront measurements were performed over 6 mm diameters with a Zeiss Atlas 9000 corneal topographer (Zeiss Meditec, Dublin, USA) prior to, and following lens fitting. Data were converted into rectangular Fourier optics terms M, J0, J45 and RMS values for each reading addition were statistically analyzed. Following evaluation of statistical significance and clinical relevance, results were compared to published data from successful Orthokeratology treatments. Results: Statistically significant changes in higher order aberrations were detected for lenses of all reading additions. Lens groups with higher Add-powers demonstrated stronger changes with increased significance. Final RMS values relating to 2nd, 3rd and 4th Zernike Orders reached clinical significance with a wavefront error of 0.10 μm, the equivalent of 0.25D. Moreover, as Add-powers increased, 3rd and 4th order aberrations likewise showed an increase. Pre-fitting astigmatism values accounted for the highest recorded aberrations and remained predominantly unchanged. Conclusion: Proclear Multifocal center-distance contact lenses were found to increase higher order wavefront aberrations in a manner dependent on their Add-power. In comparison to successful Orthokeratology outcomes, the amounts of resulting aberrations are notably different.展开更多
为研究辊形电磁调控技术(roll profile electromagnetic control technology,RPECT)的热力胀形行为,采用有限元方法分析了不同电流密度及频率下综合辊凸度、热力贡献辊凸度以及力凸度占比等随接触区热量的变化规律,探究了接触区热量与...为研究辊形电磁调控技术(roll profile electromagnetic control technology,RPECT)的热力胀形行为,采用有限元方法分析了不同电流密度及频率下综合辊凸度、热力贡献辊凸度以及力凸度占比等随接触区热量的变化规律,探究了接触区热量与热力胀形能力的映射关系及其成立条件.结果表明,在接触区热量的中低取值范围内,同一接触区热量所对应的热力调控能力不会受磁参数影响,故提出将接触区热量作为输入参数与调控能力之间桥梁的RPECT高效控制策略.该策略通过提升磁参数来快速达到接触区的目标温升效果,进而获取目标调控能力.以20μm的辊缝凸度需求为例,经原始与高效控制策略间的对比发现,新策略的调控时间可有效地缩短至原调控时间的19.57%.展开更多
由于DCS控制器中电表传感器在计量检测过程中,传统的B-MAC-DCS协议能耗和丢包率较高,无法缓解汇聚节点的漏斗效应,导致在远程抄表过程中传感器计量误差增大。提出一种机械电表接触传感器计量误差检测方法。采用小波基函数对DCS控制器中...由于DCS控制器中电表传感器在计量检测过程中,传统的B-MAC-DCS协议能耗和丢包率较高,无法缓解汇聚节点的漏斗效应,导致在远程抄表过程中传感器计量误差增大。提出一种机械电表接触传感器计量误差检测方法。采用小波基函数对DCS控制器中的接触传感器计量数据抗干扰处理,并通过动态选取阈值的方法,对经过小波变换后的数据去除噪声。使用低功耗自适应集簇分层型(low energy adaptive clustering hierarchy,LEACH)协议分簇代替传统的B-MAC协议;根据簇内监测值,引入阈值分析方法获取传感器计量指标,并将其作为判定依据进行误差检测,根据计量指标的变化情况判断是否存在计量误差。实验结果表明,所提方法可以准确且有效检测出机械电表接触传感器计量误差,解决DCS中机械电表的运行隐患问题。展开更多
Based on the microfluidic technology,a microscopic visualization model was used to simulate the gas injection process in the initial construction stage and the bottom water invasion/gas injection process in the cyclic...Based on the microfluidic technology,a microscopic visualization model was used to simulate the gas injection process in the initial construction stage and the bottom water invasion/gas injection process in the cyclical injection-production stage of the underground gas storage(UGS)rebuilt from water-invaded gas reservoirs.Through analysis of the gas-liquid contact stabilization mechanism,flow and occurrence,the optimal control method for lifecycle efficient operation of UGS was explored.The results show that in the initial construction stage of UGS,the action of gravity should be fully utilized by regulating the gas injection rate,so as to ensure the macroscopically stable migration of the gas-liquid contact,and greatly improve the gas sweeping capacity,providing a large pore space for gas storage in the subsequent cyclical injection-production stage.In the cyclical injection-production stage of UGS,a constant gas storage and production rate leads to a low pore space utilization.Gradually increasing the gas storage and production rate,that is,transitioning from small volume to large volume,can continuously break the hydraulic equilibrium of the remaining fluid in the porous media,which then expands the pore space and flow channels.This is conducive to the expansion of UGS capacity and efficiency for purpose of peak shaving and supply guarantee.展开更多
基金supported by the National Natural Science Foundation of China(11972077,11672035)。
文摘Detumbling operation toward a rotating target with nutation is meaningful for debris removal but challenging. In this study, a deformable end-effector is first designed based on the requirements for contacting the nutating target. A dual-arm robotic system installed with the deformable end-effectors is modeled and the movement of the end-tips is analyzed. The complex operation of the contact toward a nutating target places strict requirements on control accuracy and controller robustness. Thus, an improvement of the tracking error transformation is proposed and an adaptive sliding mode controller with prescribed performance is designed to guarantee the fast and precise motion of the effector during the contact detumbling.Finally, by employing the proposed effector and the controller,numerical simulations are carried out to verify the effectiveness and efficiency of the contact detumbling toward a nutating target.
基金Supported by the National Natural Science Foundation(Instrument)of China(50427401)the National High Technology Research and Development Program of China(2006AA06Z119)+1 种基金the National Key Technology R&D Program in 11th Five Years Plan of China(2007BA29B01)the New Century Excellent Talents in University(NCET-06-0477)
文摘By analyzing the characteristics and the production mechanism of rock burstthat goes with abnormal gas emission in deep coal seams,the essential method of eliminatingabnormal gas emission by eliminating the occurrence of rock burst or depressingthe magnitude of rock burst was considered.The No.237 working face was selected asthe typical working face contacting gas in deep mining;aimed at this working face,a systemof rock burst prediction and control for coal seam contacting gas in deep mining wasestablished.This system includes three parts:① regional prediction of rock burst hazardbefore mining,② local prediction of rock burst hazard during mining,and ③ rock burstcontrol.
文摘Purpose: The purpose of this study was to evaluate the change in corneal wavefront aberrations in young adults who have been fit with multifocal soft contact lenses for myopia progression control. Findings have been analyzed for statistical significance and clinical relevance and compared to reportedly successful Orthokeratology outcomes. Methods: The dominant eye of 40 participants (27 women, 13 men;mean age 27.3 ± 3.2 years;range 23 to 39 years) was fit with Proclear Multifocal center distance lenses (Coopervision, Pleasanton, USA) having a variety of distance powers and reading additions. Refractive errors were limited to a range of –6.00 D up to +1.00 D of sphere, and no greater than –1.00 D of cylinder. Corneal wavefront measurements were performed over 6 mm diameters with a Zeiss Atlas 9000 corneal topographer (Zeiss Meditec, Dublin, USA) prior to, and following lens fitting. Data were converted into rectangular Fourier optics terms M, J0, J45 and RMS values for each reading addition were statistically analyzed. Following evaluation of statistical significance and clinical relevance, results were compared to published data from successful Orthokeratology treatments. Results: Statistically significant changes in higher order aberrations were detected for lenses of all reading additions. Lens groups with higher Add-powers demonstrated stronger changes with increased significance. Final RMS values relating to 2nd, 3rd and 4th Zernike Orders reached clinical significance with a wavefront error of 0.10 μm, the equivalent of 0.25D. Moreover, as Add-powers increased, 3rd and 4th order aberrations likewise showed an increase. Pre-fitting astigmatism values accounted for the highest recorded aberrations and remained predominantly unchanged. Conclusion: Proclear Multifocal center-distance contact lenses were found to increase higher order wavefront aberrations in a manner dependent on their Add-power. In comparison to successful Orthokeratology outcomes, the amounts of resulting aberrations are notably different.
文摘为研究辊形电磁调控技术(roll profile electromagnetic control technology,RPECT)的热力胀形行为,采用有限元方法分析了不同电流密度及频率下综合辊凸度、热力贡献辊凸度以及力凸度占比等随接触区热量的变化规律,探究了接触区热量与热力胀形能力的映射关系及其成立条件.结果表明,在接触区热量的中低取值范围内,同一接触区热量所对应的热力调控能力不会受磁参数影响,故提出将接触区热量作为输入参数与调控能力之间桥梁的RPECT高效控制策略.该策略通过提升磁参数来快速达到接触区的目标温升效果,进而获取目标调控能力.以20μm的辊缝凸度需求为例,经原始与高效控制策略间的对比发现,新策略的调控时间可有效地缩短至原调控时间的19.57%.
文摘由于DCS控制器中电表传感器在计量检测过程中,传统的B-MAC-DCS协议能耗和丢包率较高,无法缓解汇聚节点的漏斗效应,导致在远程抄表过程中传感器计量误差增大。提出一种机械电表接触传感器计量误差检测方法。采用小波基函数对DCS控制器中的接触传感器计量数据抗干扰处理,并通过动态选取阈值的方法,对经过小波变换后的数据去除噪声。使用低功耗自适应集簇分层型(low energy adaptive clustering hierarchy,LEACH)协议分簇代替传统的B-MAC协议;根据簇内监测值,引入阈值分析方法获取传感器计量指标,并将其作为判定依据进行误差检测,根据计量指标的变化情况判断是否存在计量误差。实验结果表明,所提方法可以准确且有效检测出机械电表接触传感器计量误差,解决DCS中机械电表的运行隐患问题。
文摘Based on the microfluidic technology,a microscopic visualization model was used to simulate the gas injection process in the initial construction stage and the bottom water invasion/gas injection process in the cyclical injection-production stage of the underground gas storage(UGS)rebuilt from water-invaded gas reservoirs.Through analysis of the gas-liquid contact stabilization mechanism,flow and occurrence,the optimal control method for lifecycle efficient operation of UGS was explored.The results show that in the initial construction stage of UGS,the action of gravity should be fully utilized by regulating the gas injection rate,so as to ensure the macroscopically stable migration of the gas-liquid contact,and greatly improve the gas sweeping capacity,providing a large pore space for gas storage in the subsequent cyclical injection-production stage.In the cyclical injection-production stage of UGS,a constant gas storage and production rate leads to a low pore space utilization.Gradually increasing the gas storage and production rate,that is,transitioning from small volume to large volume,can continuously break the hydraulic equilibrium of the remaining fluid in the porous media,which then expands the pore space and flow channels.This is conducive to the expansion of UGS capacity and efficiency for purpose of peak shaving and supply guarantee.
