Plasma sterilization is a new generation of high-tech sterilization method that is fast,safe,and pollution free.It is widely used in medical,food,and environmental protection fields.Home air sterilization is an emergi...Plasma sterilization is a new generation of high-tech sterilization method that is fast,safe,and pollution free.It is widely used in medical,food,and environmental protection fields.Home air sterilization is an emerging field of plasma application,which puts higher requirements on the miniaturization,operational stability,and operating cost of plasma device.In this study,a novel magnetically driven rotating gliding arc(MDRGA)discharge device was used to sterilize Lactobacillus fermentation.Compared with the traditional gas-driven gliding arc,this device has a simple structure and a more stable gliding arc.Simulation using COMSOL Multiphysics showed that adding permanent magnets can form a stable magnetic field,which is conducive to the formation of gliding arcs.Experiments on the discharge performance,ozone concentration,and sterilization effect were conducted using different power supply parameters.The results revealed that the MDRGA process can be divided into three stages:starting,gliding,and extinguishing.Appropriate voltage was the key factor for stable arc gliding,and both high and low voltages were not conducive to stable arc gliding and ozone production.In this experimental setup,the sterilization effect was the best at 6.6 kV.A high modulation duty ratio was beneficial for achieving stable arc gliding.However,when the duty ratio exceeded a certain value,the improvement in the sterilization effect was slow.Therefore,considering the sterilization effect and energy factors comprehensively,we chose 80%as the optimal modulation duty ratio for this experimental device.展开更多
Brain tissue is one of the softest parts of the human body,composed of white matter and grey matter.The mechanical behavior of the brain tissue plays an essential role in regulating brain morphology and brain function...Brain tissue is one of the softest parts of the human body,composed of white matter and grey matter.The mechanical behavior of the brain tissue plays an essential role in regulating brain morphology and brain function.Besides,traumatic brain injury(TBI)and various brain diseases are also greatly influenced by the brain's mechanical properties.Whether white matter or grey matter,brain tissue contains multiscale structures composed of neurons,glial cells,fibers,blood vessels,etc.,each with different mechanical properties.As such,brain tissue exhibits complex mechanical behavior,usually with strong nonlinearity,heterogeneity,and directional dependence.Building a constitutive law for multiscale brain tissue using traditional function-based approaches can be very challenging.Instead,this paper proposes a data-driven approach to establish the desired mechanical model of brain tissue.We focus on blood vessels with internal pressure embedded in a white or grey matter matrix material to demonstrate our approach.The matrix is described by an isotropic or anisotropic nonlinear elastic model.A representative unit cell(RUC)with blood vessels is built,which is used to generate the stress-strain data under different internal blood pressure and various proportional displacement loading paths.The generated stress-strain data is then used to train a mechanical law using artificial neural networks to predict the macroscopic mechanical response of brain tissue under different internal pressures.Finally,the trained material model is implemented into finite element software to predict the mechanical behavior of a whole brain under intracranial pressure and distributed body forces.Compared with a direct numerical simulation that employs a reference material model,our proposed approach greatly reduces the computational cost and improves modeling efficiency.The predictions made by our trained model demonstrate sufficient accuracy.Specifically,we find that the level of internal blood pressure can greatly influence stress distribution and determine the possible related damage behaviors.展开更多
Through theoretical analysis,we construct a physical model that includes the influence of counter-external driven current opposite to the plasma current direction in the neoclassical tearing mode(NTM).The equation is ...Through theoretical analysis,we construct a physical model that includes the influence of counter-external driven current opposite to the plasma current direction in the neoclassical tearing mode(NTM).The equation is used with this model to obtain the modified Rutherford equation with co-current and counter-current contributions.Consistent with the reported experimental results,numerical simulations have shown that the localized counter external current can only partially suppress NTM when it is far from the resonant magnetic surface.Under some circumstances,the Ohkawa mechanism dominated current drive(OKCD)by electron cyclotron waves can concurrently create both co-current and counter-current.In this instance,the minimal electron cyclotron wave power that suppresses a particular NTM was calculated by the Rutherford equation.The result is marginally less than when taking co-current alone into consideration.As a result,to suppress NTM using OKCD,one only needs to align the co-current with a greater OKCD peak well with the resonant magnetic surface.The effect of its lower counter-current does not need to be considered because the location of the counter-current deviates greatly from the resonant magnetic surface.展开更多
The so-called fourth-generation biodegradable vascular stent has become a research hotspot in thefield of bioengineering because of its good degradation ability and drug-loading characteristics.However,the preparationo...The so-called fourth-generation biodegradable vascular stent has become a research hotspot in thefield of bioengineering because of its good degradation ability and drug-loading characteristics.However,the preparationof polymer-degraded vascular stents is affected by known problem such as poor processflexibility,low formingaccuracy,large diameter wall thickness,limited complex pore structure,weak mechanical properties of radial support and high process cost.In this study,a deposition technique based on a high-voltage electric-field-driven continuous rotating jet is proposed to fabricate fully degraded polymer vascular stents.The experimental results showthat,due to the rotation of the deposition axis,the deposition direction of PCL(polycaprolactone)micro-jet isalways tangent to the surface of the deposition axis.The direction of the viscous drag force is also consistent withthe deposition direction of the jet.It is shown that by setting different rotation speeds of deposition axisωandlinear motion speeds of the nozzle V,the direction of rotation,pitch and angle of the individual printed spiralcurve can be precisely tuned.In the process of multiple spiral curves matching the deposition forming thin walltube mesh,the mesh shape and size of the thin wall tube can be accurately controlled by changing the number ofmatching spiral curves and the size of the matching position bias distance.Finally,the characteristics of a PCLtubular stent sample(with uniform-size microfibers and mesh shape),fabricated under the appropriate processparameters are described in detail.展开更多
Laser driven flyer plate technology offers improved safety and reliability for detonation of explosives in industrial applications ranging from mining and stone quarrying to the aerospace and defense industries.This s...Laser driven flyer plate technology offers improved safety and reliability for detonation of explosives in industrial applications ranging from mining and stone quarrying to the aerospace and defense industries.This study is based on developing a safer laser driven flyer plate prototype comprised of a laser initiator and a flyer plate subsystem that can be used with secondary explosives.System parameters were optimized to initiate the shock-to-detonation transition(SDT)of a secondary explosive based on the impact created by the flyer plate on the explosive surface.Rupture of the flyer was investigated at the mechanically weakened region located on the interface of these subsystems,where the product gases from the deflagration of the explosive provide the required energy.A bilayer energetic material was used,where the first layer consisted of a pyrotechnic component,zirconium potassium perchlorate(ZPP),for sustaining the ignition by the laser beam and the second layer consisted of an insensitive explosive,cyclotetramethylene-tetranitramine(HMX),for deflagration.A plexiglass interface was used to enfold the energetic material.The focal length of the laser beam from the diode was optimized to provide a homogeneous beam profile with maximum power at the surface of the ZPP.Closed bomb experiments were conducted in an internal volume of 10 cm^(3) for evaluation of performance.Dependency of the laser driven flyer plate system output on confinement,explosive density,and laser beam power were analyzed.Measurements using a high-speed camera resulted in a flyer velocity of 670±20 m/s that renders the prototype suitable as a laser detonator in applications,where controlled employment of explosives is critical.展开更多
With the ongoing advancements in sensor networks and data acquisition technologies across various systems like manufacturing,aviation,and healthcare,the data driven vibration control(DDVC)has attracted broad interests...With the ongoing advancements in sensor networks and data acquisition technologies across various systems like manufacturing,aviation,and healthcare,the data driven vibration control(DDVC)has attracted broad interests from both the industrial and academic communities.Input shaping(IS),as a simple and effective feedforward method,is greatly demanded in DDVC methods.It convolves the desired input command with impulse sequence without requiring parametric dynamics and the closed-loop system structure,thereby suppressing the residual vibration separately.Based on a thorough investigation into the state-of-the-art DDVC methods,this survey has made the following efforts:1)Introducing the IS theory and typical input shapers;2)Categorizing recent progress of DDVC methods;3)Summarizing commonly adopted metrics for DDVC;and 4)Discussing the engineering applications and future trends of DDVC.By doing so,this study provides a systematic and comprehensive overview of existing DDVC methods from designing to optimizing perspectives,aiming at promoting future research regarding this emerging and vital issue.展开更多
In the present context of increasing social demands for natural science education,increasing people s awareness of environmental biodiversity protection,and ecological civilization lifting to the state strategy,it is ...In the present context of increasing social demands for natural science education,increasing people s awareness of environmental biodiversity protection,and ecological civilization lifting to the state strategy,it is just the time to explore a new botany field practice model.The attempt of a new task-driven model for botany field practice will greatly enhance students thinking about plants and nature,plants and environment,and plant and ecological civilization,and will inevitably enhance students initiative awareness and practical ability to protect and rationally utilize plant resources.展开更多
Battlefield environment simulation process is an important part of battlefield environment information support, which needs to be built around the task process. At present, the interoperability between battlefield env...Battlefield environment simulation process is an important part of battlefield environment information support, which needs to be built around the task process. At present, the interoperability between battlefield environment simulation system and command and control system is still imperfect, and the traditional simulation data model cannot meet war fighters’ high-efficient and accurate understanding and analysis on battlefield environment’s information. Therefore, a kind of task-orientated battlefield environment simulation process model needs to be construed to effectively analyze the key information demands of the command and control system. The structured characteristics of tasks and simulation process are analyzed, and the simulation process concept model is constructed with the method of object-orientated. The data model and formal syntax of GeoBML are analyzed, and the logical model of simulation process is constructed with formal language. The object data structure of simulation process is defined and the object model of simulation process which maps tasks is constructed. In the end, the battlefield environment simulation platform modules are designed and applied based on this model, verifying that the model can effectively express the real-time dynamic correlation between battlefield environment simulation data and operational tasks.展开更多
The most critical obstacle for four-wheel independently driven electric vehicles(4WID-EVs)is the driving range.Being the actuators of 4WID-EVs,motors account for its major power consumption.In this sense,by properly d...The most critical obstacle for four-wheel independently driven electric vehicles(4WID-EVs)is the driving range.Being the actuators of 4WID-EVs,motors account for its major power consumption.In this sense,by properly distributing torques to minimize the power consumption,the driving range of 4WID-EV can be effectively improved.This paper proposes a model predictive control(MPC)-based torque distribution scheme,which minimizes the power consumption of 4WID-EVs while guaranteeing its tracking performance of planar motions.By incorporating the motor model considering iron losses,the optimal torque distribution can be achieved without an additional torque controller.Also,for this reason,the proposed control scheme is computationally efficient,since the power consumption term to be optimized,which is expressed as the product of the motor voltages and currents,is much simpler than that derived from the efficiency map.With reasonable simplification and linearization,the MPC problem is converted to a quadratic programming problem,which can be solved efficiently.The simulation results in MATLAB and CarSim co-simulation environments demonstrate that the proposed scheme effectively reduces power consumption with guaranteed tracking performance.展开更多
The electrically driven large-load-ratio six-legged robot with engineering capability can be widely used in outdoor and planetary exploration.However,due to the particularity of its parallel structure,the effective ut...The electrically driven large-load-ratio six-legged robot with engineering capability can be widely used in outdoor and planetary exploration.However,due to the particularity of its parallel structure,the effective utilization rate of energy is not high,which has become an important obstacle to its practical application.To research the power consumption characteristics of robot mobile system is beneficial to speed up it toward practicability.Based on the configuration and walking modes of robot,the mathematical model of the power consumption of mobile system is set up.In view of the tripod gait is often selected for the six-legged robots,the simplified power consumption model of mobile system under the tripod gait is established by means of reducing the dimension of the robot’s statically indeterminate problem and constructing the equal force distribution.Then,the power consumption of robot mobile system is solved under different working conditions.The variable tendencies of the power consumption of robot mobile system are respectively obtained with changes in the rotational angles of hip joint and knee joint,body height,and span.The articulated rotational zones and the ranges of body height and span are determined under the lowest power consumption.According to the walking experiments of prototype,the variable tendencies of the average power consumption of robot mobile system are respectively acquired with changes in duty ratio,body height,and span.Then,the feasibility and correctness of theory analysis are verified in the power consumption of robot mobile system.The proposed analysis method in this paper can provide a reference on the lower power research of the large-load-ratio multi-legged robots.展开更多
The hybrid beamforming is a promising technology for the millimeter wave MIMO system,which provides high spectrum efficiency,high data rate transmission,and a good balance between transmission performance and hardware...The hybrid beamforming is a promising technology for the millimeter wave MIMO system,which provides high spectrum efficiency,high data rate transmission,and a good balance between transmission performance and hardware complexity.The most existing beamforming systems transmit multiple streams by formulating multiple orthogonal beams.However,the Neural network Hybrid Beamforming(NHB)adopts a totally different strategy,which combines multiple streams into one and transmits by employing a high-order non-orthogonal modulation strategy.Driven by the Deep Learning(DL)hybrid beamforming,in this work,we propose a DL-driven nonorthogonal hybrid beamforming for the single-user multiple streams scenario.We first analyze the beamforming strategy of NHB and prove it with better Bit Error Rate(BER)performance than the orthogonal hybrid beamforming even with the optimal power allocation.Inspired by the NHB,we propose a new DL-driven beamforming scheme to simulate the NHB behavior,which avoids time-consuming neural network training and achieves better BERs than traditional hybrid beamforming.Moreover,our simulation results demonstrate that the DL-driven nonorthogonal beamforming outperforms its traditional orthogonal beamforming counterpart in the presence of subconnected schemes and imperfect Channel State Information(CSI).展开更多
无人飞行器(unmanned aerial vehicle,UAV)自组网的路由研究多以性能指标出发、忽略无人飞行器网络的任务驱动性,与实际需求动态耦合弱、适用性不强。针对该问题基于无人飞行器多任务网络提出了面向任务的无人飞行器联盟组网架构,提出...无人飞行器(unmanned aerial vehicle,UAV)自组网的路由研究多以性能指标出发、忽略无人飞行器网络的任务驱动性,与实际需求动态耦合弱、适用性不强。针对该问题基于无人飞行器多任务网络提出了面向任务的无人飞行器联盟组网架构,提出了无人飞行器联盟的任务自适应优化链路状态路由协议(task adaptive optimized link state routing,TA-OLSR)。基于模糊逻辑设计拓扑稳定度计算方法,利用拓扑稳定度实现TA-OLSR控制消息的自适应广播,同时结合稳定度设计新的多点中继选择策略。仿真结果表明,TA-OLSR算法能从宏观面向任务的角度出发,实现不同任务下的良好自适应性,提升数据包投递率,减少冗余信息传播,降低网络开销,有效提高整体网络性能。展开更多
基金supported by National Natural Science Foundation of China(Nos.52077129 and 52277150)the Natural Science Foundation of Shandong Province(No.ZR2022ME037).
文摘Plasma sterilization is a new generation of high-tech sterilization method that is fast,safe,and pollution free.It is widely used in medical,food,and environmental protection fields.Home air sterilization is an emerging field of plasma application,which puts higher requirements on the miniaturization,operational stability,and operating cost of plasma device.In this study,a novel magnetically driven rotating gliding arc(MDRGA)discharge device was used to sterilize Lactobacillus fermentation.Compared with the traditional gas-driven gliding arc,this device has a simple structure and a more stable gliding arc.Simulation using COMSOL Multiphysics showed that adding permanent magnets can form a stable magnetic field,which is conducive to the formation of gliding arcs.Experiments on the discharge performance,ozone concentration,and sterilization effect were conducted using different power supply parameters.The results revealed that the MDRGA process can be divided into three stages:starting,gliding,and extinguishing.Appropriate voltage was the key factor for stable arc gliding,and both high and low voltages were not conducive to stable arc gliding and ozone production.In this experimental setup,the sterilization effect was the best at 6.6 kV.A high modulation duty ratio was beneficial for achieving stable arc gliding.However,when the duty ratio exceeded a certain value,the improvement in the sterilization effect was slow.Therefore,considering the sterilization effect and energy factors comprehensively,we chose 80%as the optimal modulation duty ratio for this experimental device.
文摘Brain tissue is one of the softest parts of the human body,composed of white matter and grey matter.The mechanical behavior of the brain tissue plays an essential role in regulating brain morphology and brain function.Besides,traumatic brain injury(TBI)and various brain diseases are also greatly influenced by the brain's mechanical properties.Whether white matter or grey matter,brain tissue contains multiscale structures composed of neurons,glial cells,fibers,blood vessels,etc.,each with different mechanical properties.As such,brain tissue exhibits complex mechanical behavior,usually with strong nonlinearity,heterogeneity,and directional dependence.Building a constitutive law for multiscale brain tissue using traditional function-based approaches can be very challenging.Instead,this paper proposes a data-driven approach to establish the desired mechanical model of brain tissue.We focus on blood vessels with internal pressure embedded in a white or grey matter matrix material to demonstrate our approach.The matrix is described by an isotropic or anisotropic nonlinear elastic model.A representative unit cell(RUC)with blood vessels is built,which is used to generate the stress-strain data under different internal blood pressure and various proportional displacement loading paths.The generated stress-strain data is then used to train a mechanical law using artificial neural networks to predict the macroscopic mechanical response of brain tissue under different internal pressures.Finally,the trained material model is implemented into finite element software to predict the mechanical behavior of a whole brain under intracranial pressure and distributed body forces.Compared with a direct numerical simulation that employs a reference material model,our proposed approach greatly reduces the computational cost and improves modeling efficiency.The predictions made by our trained model demonstrate sufficient accuracy.Specifically,we find that the level of internal blood pressure can greatly influence stress distribution and determine the possible related damage behaviors.
基金Project supported by the National Key R&D Program of China(Grant Nos.2022YFE03070000 and 2022YFE03070003)the National Natural Science Foundation of China(Grant Nos.12375220 and 12075114)+3 种基金the Hunan Provincial Natural Science Foundation(Grant No.2021JJ30569)the Doctoral Initiation Fund Project of University of South China(Grant No.190XQD114)the Hunan Nuclear Fusion International Science and Technology Innovation Cooperation Base(Grant No.2018WK4009)the Hengyang Key Laboratory of Magnetic Confinement Nuclear Fusion Research(Grant No.2018KJ108)。
文摘Through theoretical analysis,we construct a physical model that includes the influence of counter-external driven current opposite to the plasma current direction in the neoclassical tearing mode(NTM).The equation is used with this model to obtain the modified Rutherford equation with co-current and counter-current contributions.Consistent with the reported experimental results,numerical simulations have shown that the localized counter external current can only partially suppress NTM when it is far from the resonant magnetic surface.Under some circumstances,the Ohkawa mechanism dominated current drive(OKCD)by electron cyclotron waves can concurrently create both co-current and counter-current.In this instance,the minimal electron cyclotron wave power that suppresses a particular NTM was calculated by the Rutherford equation.The result is marginally less than when taking co-current alone into consideration.As a result,to suppress NTM using OKCD,one only needs to align the co-current with a greater OKCD peak well with the resonant magnetic surface.The effect of its lower counter-current does not need to be considered because the location of the counter-current deviates greatly from the resonant magnetic surface.
基金supported by the National Natural Science Foundation of China(Grant Nos.51305128 and 52005059)The Key Scientific and Technological Project of Henan Province(Grant Nos.242102231054 and 242102220073)The Provincial Graduate Quality Engineering Project(Grant No.YJS2024JD38)。
文摘The so-called fourth-generation biodegradable vascular stent has become a research hotspot in thefield of bioengineering because of its good degradation ability and drug-loading characteristics.However,the preparationof polymer-degraded vascular stents is affected by known problem such as poor processflexibility,low formingaccuracy,large diameter wall thickness,limited complex pore structure,weak mechanical properties of radial support and high process cost.In this study,a deposition technique based on a high-voltage electric-field-driven continuous rotating jet is proposed to fabricate fully degraded polymer vascular stents.The experimental results showthat,due to the rotation of the deposition axis,the deposition direction of PCL(polycaprolactone)micro-jet isalways tangent to the surface of the deposition axis.The direction of the viscous drag force is also consistent withthe deposition direction of the jet.It is shown that by setting different rotation speeds of deposition axisωandlinear motion speeds of the nozzle V,the direction of rotation,pitch and angle of the individual printed spiralcurve can be precisely tuned.In the process of multiple spiral curves matching the deposition forming thin walltube mesh,the mesh shape and size of the thin wall tube can be accurately controlled by changing the number ofmatching spiral curves and the size of the matching position bias distance.Finally,the characteristics of a PCLtubular stent sample(with uniform-size microfibers and mesh shape),fabricated under the appropriate processparameters are described in detail.
文摘Laser driven flyer plate technology offers improved safety and reliability for detonation of explosives in industrial applications ranging from mining and stone quarrying to the aerospace and defense industries.This study is based on developing a safer laser driven flyer plate prototype comprised of a laser initiator and a flyer plate subsystem that can be used with secondary explosives.System parameters were optimized to initiate the shock-to-detonation transition(SDT)of a secondary explosive based on the impact created by the flyer plate on the explosive surface.Rupture of the flyer was investigated at the mechanically weakened region located on the interface of these subsystems,where the product gases from the deflagration of the explosive provide the required energy.A bilayer energetic material was used,where the first layer consisted of a pyrotechnic component,zirconium potassium perchlorate(ZPP),for sustaining the ignition by the laser beam and the second layer consisted of an insensitive explosive,cyclotetramethylene-tetranitramine(HMX),for deflagration.A plexiglass interface was used to enfold the energetic material.The focal length of the laser beam from the diode was optimized to provide a homogeneous beam profile with maximum power at the surface of the ZPP.Closed bomb experiments were conducted in an internal volume of 10 cm^(3) for evaluation of performance.Dependency of the laser driven flyer plate system output on confinement,explosive density,and laser beam power were analyzed.Measurements using a high-speed camera resulted in a flyer velocity of 670±20 m/s that renders the prototype suitable as a laser detonator in applications,where controlled employment of explosives is critical.
基金supported by the National Natural Science Foundation of China (62272078)。
文摘With the ongoing advancements in sensor networks and data acquisition technologies across various systems like manufacturing,aviation,and healthcare,the data driven vibration control(DDVC)has attracted broad interests from both the industrial and academic communities.Input shaping(IS),as a simple and effective feedforward method,is greatly demanded in DDVC methods.It convolves the desired input command with impulse sequence without requiring parametric dynamics and the closed-loop system structure,thereby suppressing the residual vibration separately.Based on a thorough investigation into the state-of-the-art DDVC methods,this survey has made the following efforts:1)Introducing the IS theory and typical input shapers;2)Categorizing recent progress of DDVC methods;3)Summarizing commonly adopted metrics for DDVC;and 4)Discussing the engineering applications and future trends of DDVC.By doing so,this study provides a systematic and comprehensive overview of existing DDVC methods from designing to optimizing perspectives,aiming at promoting future research regarding this emerging and vital issue.
基金Supported by Special Fund for Reform of Teaching Model of Huanggang Normal University(2016CK06,2018CE42)
文摘In the present context of increasing social demands for natural science education,increasing people s awareness of environmental biodiversity protection,and ecological civilization lifting to the state strategy,it is just the time to explore a new botany field practice model.The attempt of a new task-driven model for botany field practice will greatly enhance students thinking about plants and nature,plants and environment,and plant and ecological civilization,and will inevitably enhance students initiative awareness and practical ability to protect and rationally utilize plant resources.
基金The National Natural Science Foundation of China(41271393).
文摘Battlefield environment simulation process is an important part of battlefield environment information support, which needs to be built around the task process. At present, the interoperability between battlefield environment simulation system and command and control system is still imperfect, and the traditional simulation data model cannot meet war fighters’ high-efficient and accurate understanding and analysis on battlefield environment’s information. Therefore, a kind of task-orientated battlefield environment simulation process model needs to be construed to effectively analyze the key information demands of the command and control system. The structured characteristics of tasks and simulation process are analyzed, and the simulation process concept model is constructed with the method of object-orientated. The data model and formal syntax of GeoBML are analyzed, and the logical model of simulation process is constructed with formal language. The object data structure of simulation process is defined and the object model of simulation process which maps tasks is constructed. In the end, the battlefield environment simulation platform modules are designed and applied based on this model, verifying that the model can effectively express the real-time dynamic correlation between battlefield environment simulation data and operational tasks.
基金supported in part by National Natural Science Foundation of China(NSFC)under Project No.51737010.
文摘The most critical obstacle for four-wheel independently driven electric vehicles(4WID-EVs)is the driving range.Being the actuators of 4WID-EVs,motors account for its major power consumption.In this sense,by properly distributing torques to minimize the power consumption,the driving range of 4WID-EV can be effectively improved.This paper proposes a model predictive control(MPC)-based torque distribution scheme,which minimizes the power consumption of 4WID-EVs while guaranteeing its tracking performance of planar motions.By incorporating the motor model considering iron losses,the optimal torque distribution can be achieved without an additional torque controller.Also,for this reason,the proposed control scheme is computationally efficient,since the power consumption term to be optimized,which is expressed as the product of the motor voltages and currents,is much simpler than that derived from the efficiency map.With reasonable simplification and linearization,the MPC problem is converted to a quadratic programming problem,which can be solved efficiently.The simulation results in MATLAB and CarSim co-simulation environments demonstrate that the proposed scheme effectively reduces power consumption with guaranteed tracking performance.
基金National Natural Science Foundation of China(Grant No.51505335)Industry University Cooperation Collaborative Education Project of the Department of Higher Education of the Ministry of Education of China(Grant No.202102517001)Doctor Startup Projects of TUTE of China(Grant No.KYQD1806)。
文摘The electrically driven large-load-ratio six-legged robot with engineering capability can be widely used in outdoor and planetary exploration.However,due to the particularity of its parallel structure,the effective utilization rate of energy is not high,which has become an important obstacle to its practical application.To research the power consumption characteristics of robot mobile system is beneficial to speed up it toward practicability.Based on the configuration and walking modes of robot,the mathematical model of the power consumption of mobile system is set up.In view of the tripod gait is often selected for the six-legged robots,the simplified power consumption model of mobile system under the tripod gait is established by means of reducing the dimension of the robot’s statically indeterminate problem and constructing the equal force distribution.Then,the power consumption of robot mobile system is solved under different working conditions.The variable tendencies of the power consumption of robot mobile system are respectively obtained with changes in the rotational angles of hip joint and knee joint,body height,and span.The articulated rotational zones and the ranges of body height and span are determined under the lowest power consumption.According to the walking experiments of prototype,the variable tendencies of the average power consumption of robot mobile system are respectively acquired with changes in duty ratio,body height,and span.Then,the feasibility and correctness of theory analysis are verified in the power consumption of robot mobile system.The proposed analysis method in this paper can provide a reference on the lower power research of the large-load-ratio multi-legged robots.
基金This work is supported by Sichuan Science and Technology Program(NO.2021YFG0127).
文摘The hybrid beamforming is a promising technology for the millimeter wave MIMO system,which provides high spectrum efficiency,high data rate transmission,and a good balance between transmission performance and hardware complexity.The most existing beamforming systems transmit multiple streams by formulating multiple orthogonal beams.However,the Neural network Hybrid Beamforming(NHB)adopts a totally different strategy,which combines multiple streams into one and transmits by employing a high-order non-orthogonal modulation strategy.Driven by the Deep Learning(DL)hybrid beamforming,in this work,we propose a DL-driven nonorthogonal hybrid beamforming for the single-user multiple streams scenario.We first analyze the beamforming strategy of NHB and prove it with better Bit Error Rate(BER)performance than the orthogonal hybrid beamforming even with the optimal power allocation.Inspired by the NHB,we propose a new DL-driven beamforming scheme to simulate the NHB behavior,which avoids time-consuming neural network training and achieves better BERs than traditional hybrid beamforming.Moreover,our simulation results demonstrate that the DL-driven nonorthogonal beamforming outperforms its traditional orthogonal beamforming counterpart in the presence of subconnected schemes and imperfect Channel State Information(CSI).
文摘无人飞行器(unmanned aerial vehicle,UAV)自组网的路由研究多以性能指标出发、忽略无人飞行器网络的任务驱动性,与实际需求动态耦合弱、适用性不强。针对该问题基于无人飞行器多任务网络提出了面向任务的无人飞行器联盟组网架构,提出了无人飞行器联盟的任务自适应优化链路状态路由协议(task adaptive optimized link state routing,TA-OLSR)。基于模糊逻辑设计拓扑稳定度计算方法,利用拓扑稳定度实现TA-OLSR控制消息的自适应广播,同时结合稳定度设计新的多点中继选择策略。仿真结果表明,TA-OLSR算法能从宏观面向任务的角度出发,实现不同任务下的良好自适应性,提升数据包投递率,减少冗余信息传播,降低网络开销,有效提高整体网络性能。