STUDY ON THE INTERACTION OF SEDIMENTING CYLINDRICAL PARTICLES IN STILL FLUID

The sedimentations of two cylindrical particles in three different initial relative po- sitions are numerically simulated using the lattice Boltzmann method.The movement characteristics and particle interactions during their sedimentation are presented and discussed in detail.The results show that,(i)if the two particles are released parallel but separated horizontally,they push away each other,rotate inwards and separate horizontally as they fall;(ii)if the two particles are released par- allel but separated vertically,the sedimentation behavior can be classified into three stages:trailing, tumbling and separating;(iii)if the two particles are released perpendicular but separated vertically, the sedimentation behavior can be characterized as:trailing and rotating,touching and sliding.In order to validate our simulation,experiments were also conducted and the results agree well with the numerical ones.

Quadrature Method of Moments for Nanoparticle Coagulation and Diffusion in the Planar Impinging Jet Flow

把大旋涡模拟与照时刻方法相结合的一个计算模特儿被雇用在一口限制侵犯的喷气学习 nanoparticle 进化。调查粒子尺寸在短暂政体被限制，并且粒子碰撞核被使用流动匹配的理论获得。模拟被把它与试验性的结果作比较验证。协调结构扮演统治粒子数字紧张的数字结果表演，尺寸和多分散性分布，和它也导致粒子沉重的喷气被冲淡由周围。在侵犯的喷气流动的粒子动力学的进化是强烈，与雷纳兹有关，数字和 nozzle-to-plate 距离，和他们的关系被分析。

Research on the operating characteristics of parallel 4-DOF electric platform with 4TPS-PS structure

The 4TPS-PS parallel platform designed for a stabilization and automatic tracking system is a novel lower-mobility parallel mechanism. In the first part of this paper, the structure of the platform is described and the kinematics model is built. The workspace of the platform is defined as the full reachable rotation workspace when the Z coordinate dimension of the upper plate varies continuously. A fast searching method of the full reachable workspace is presented, after which the inverse kinematics of the platform is deduced. The forward and inverse solutions of the speed and force of the platform are deduced. According to the characteristic of the 4TPS-PS platform’s structure, a fast searching algorithm of the maximum generalized speed and maximum generalized force output by the upper plate is put forward based on the forward and inverse solutions of the platform’s speed and force. The 4TPS-PS platform prototype built by the State Key Laboratory of Fluid Power Transmission and Control of China is taken as the research subject. The full reachable rotation workspace of the prototype is computed out and analyzed. The curves of maximum generalized speed and maximum generalized force of the prototype are computed out and plotted. Finally, the com- puting and analyzing results of the operating characteristics are confirmed through the experiment.

Research on new type of fast-opening mechanism in steam turbine regulating system and optimization of operation tactic

With the analysis on regulating system in 200 MW steam turbine, the necessity of appending the fast-opening function to the original system is set forth and a new type of fast-opening mechanism is devised. The mathematical model of system is built up. With the use of AMESIM software, the displacement curve of the piston, the force curve of the cartridge valve spool, the pressure curve and the flux curve in the regulation process are obtained based on simulation. The performances of three fast-opening systems composed of cartridge valves with different diameters are compared. Based on the analysis on factors that affect the execution time of fast-opening, the dead zone of the fast-opening system is put forward. To overcome the defect, dif- ferent operation modes are adopted for different zones. The result shows that with the increase of the valve diameter, the regulating time in the dead zone significantly exceeds the fast-opening time in the whole journey. Accordingly, the optimization operation tactic in the dead zone and the qualification conditions are brought forward. The fast-opening system composed of 32 mm cartridge valves is taken as an example with use of the tactic. The simulation result shows that the maximum regulating time is shortened by 509 ms.

On Optimal Frequencies of Acoustic in-situ Detector for Seafloor Hydrothermal Vents

The approach to determine working frequencies of acoustic in-situ detector for seafloor hydrothermal fluid is presented. Based on the research of deep-sea noise and the sound generated by mid-ocean ridge black smoker hydrothermal vents, and on the hydrothermal-vent animal hearing ranges, coupled with influences of suspended particles of hydrothermal on acoustic attenuation under different frequencies, the optimal frequency range for detection of acoustical signal near black smokers is determined. The optimal frequencies providing the maximum ratio of receiver signal to background noise are obtained. We have developed a laboratory experimental setup for the optimal frequencies selection. In particular, we evaluated time-of-flight performance with respect to the source signal parameters of center frequency and bandwidth. The experimental results confirm the effectiveness of our approach. Current results indicate that individual transducers operated in the range of 18 - 25 kHz are immune to most interfering sounds and suitable for our system.

Pressure observer based adaptive robust trajectory tracking control of a parallel manipulator driven by pneumatic muscles

This paper presents a pressure observer based adaptive robust controller (POARC) for posture trajectory tracking of a parallel manipulator driven by three pneumatic muscles without pressure sensors. Due to model errors of the static forces and friction forces of pneumatic muscles, simplified average flow rate characteristics of valves, unknown disturbances of entire system, and unmeasured pressures, there exist rather severe parametric uncertainties, nonlinear uncertainties and dynamic uncertainties in modeling of the parallel manipulator. A nonlinear pressure observer is constructed to estimate unknown pressures on the basis of a single-input-single-output (SISO) decoupling model that is simplified from the actual multiple-input-multiple-output (MIMO) coupling model of the parallel manipulator. Then, an adaptive robust controller integrated with the pressure observer is developed to accomplish high precision posture trajectory tracking of the parallel manipulator. The experimental results indicate that the system with the proposed POARC not only achieves good control accuracy and smooth movement but also maintains robustness to disturbances.

Design of Low-Power Data Logger of Deep Sea for Long-Term Field Observation

This paper describes the implementation of a data logger for the real-time in-situ monitoring of hydrothermal systems. A compact mechanical structure ensures the security and reliability of data logger when used under deep sea. The data logger is a battery powered instrument, which can connect chemical sensors （pH electrode, H2S electrode, H2 electrode） and temperature sensors. In order to achieve major energy savings, dynamic power management is implemented in hardware design and software design. The working current of the data logger in idle mode and active mode is 15 μA and 1.44 mA respectively, which greatly extends the working time of battery. The data logger has been successftdly tested in the first Sino-American Cooperative Deep Submergence Project from August 13 to September 3, 2005.

Non-axisymmetric instability in the Taylor-Couette flow of fiber suspension

An analysis of the instability in the Taylor-Couette flow of fiber suspensions with respect to the non-axisymmetric disturbances was performed. The constitutive model proposed by Ericksen was used to represent the role of fiber additives on the stress tensor. The generalized eigenvalue equation governing the hydrodynamic stability of the system was solved using a direct numerical procedure. The results showed that the fiber additives can suppress the instability of the flow. At the same time, the non-axisymmetric disturbance is the preferred mode that makes the fiber suspensions unstable when the ratio of the angular ve- locity of the outer cylinder to that of the inner cylinder is a large negative number.

Dimensionless Study on Secretion Clearance of a Pressure Controlled Mechanical Ventilation System with Double Lungs

A pressure controlled mechanical ventilator with an automatic secretion clearance function can improve secretion clearance safely and efficiently.Studies on secretion clearance by pressure controlled systems show that these are suited for clinical applications.However,these studies are based on a single lung electric model and neglect the coupling between the two lungs.The research methods applied are too complex for the analysis of a multi-parameter system.In order to understand the functioning of the human respiratory system,this paper develops a dimensionless mathematical model of doublelung mechanical ventilation system with a secretion clearance function.An experiment is designed to verify the mathematical model through comparison of dimensionless experimental data and dimensionless simulation data.Finally,the coupling between the two lungs is studied,and an orthogonal experiment designed to identify the impact of each parameter on the system.

Three-Dimensional Modes of Fiber Suspensions in the Taylor-Couette Flow

The linear stability analysis of the fiber suspension Taylor-Couette flow against axisymmetric and non-axisymmetric disturbances is investigated. A generalized complex eigenvalue problem generated from the linearized set of the three-dimensional governing system equations around the basic Couette azimuthal solution are solved numerically with the Chebyshev spectral method. In a wide range of radius ratios and the magnitudes of counter rotating, critical bifurcation thresholds from the axisymmetric Couette flow to the flow with different azimuthal wave numbers are obtained. The complex dispersion relations of the linearized stability equation system for vortex patterns with different azimuthal wave number are calculated for real axial wave numbers for axially extended vortex structures.

Transient Hydraulic Performance and Numerical Simulation of a Centrifugal Pump with an Open Impeller during Shutting Down

In this paper, the transient behavior of a low specific speed centrifugal pump with straight blades during shutting down is studied through the experimental test, theoretical calculation, and numerical simulation. The variations of the rota- tional speed, flow rate, and head with time are obtained in experiment. Based on the experimental results of the rota- tional speed and flow rate, the additional theoretical heads are quantitatively calculated and analyzed. The experimental results of the rotational speed and flow rate are worked as the boundary conditions to accurately accomplish the nu- merical simulation of the transient flow during shutting down. The experimental results show that the decrease history of the flow rate evidently lags behind that of the rotational speed, while the rotational speed slightly lags behind the head. Theoretical analysis shows that there exists a clear negative head impact phenomenon in the process of stopping. The transient behavior of the centrifugal pump with straight blades mainly comes from the rotation deceleration of im- peller, and has nothing to do with the fluid deceleration. The numerical simulations show that a large area backflow can be seen when the rotational speed decreases to zero due to the flowing inertia. In conclusion, the numerical simulation of the flow field is in good agreement with the internal flow theory of centrifugal pumps.

Influence of Additional Device on Performance of the Marine Current Turbine

To investigate the influence of additional device on the flow in marine current turbine, two additional devices for ma- rine current turbine including short diffuser and long diffuser types are studied based on the test data of original marine current turbine. The results of numerical simulation show that the additional device with flange structure, compared to marine current turbine without additional device, can obtain more output power. However, it brings the inhomogeneity of additional device force as the increasing of effective output power. At same time, due to existence of the flange, two karman vortices are found behind the flange. The low pressure region produced by additional device and flange struc- ture can speed up the flow around the marine current turbine, so as to improve the output power.

Simulation aided hot zone design for faster growth of CZ silicon mono crystals

Computer simulation was used for optimizing a hot zone for Czochralski （CZ） silicon crystal growth. The heater structure and heat shield material were investigated. With this optimized hot zone, the temperature gradient near the crystal/melt interface increased and the CZ crystal could be grown at a faster rate. It is a great contribution for saving power consumption.

Numerical Research on the Fiber Suspensions in a Turbulent T-shaped Branching Channel Flow

The concentration and orientation of fiber in a turbulent T-shaped branching channel flow are investi-gated numerically. The Reynolds averaged Navier-Stokes equations together with the Reynolds stress turbulent model are solved for the mean flow field and the turbulent kinetic energy. The fluctuating velocities of the fluid are assumed as a random variable with Gaussian distribution whose variance is related to the turbulent kinetic energy. The slender-body theory is used to simulate the fiber motion based on the known mean and fluctuating velocities of the fluid. The results show that at low Reynolds number, fiber concentration is high in the flow separation regions, and fiber orientation throughout the channel is widely distributed with a slight preference of aligning along the horizontal axis. With increasing of Re, the high concentration region disappears, and fiber orientation becomes ho-mogeneous without any preferred direction. At high Reynolds number, fiber concentration increases gradually along the flow direction. The differences in the distribution of concentration and orientation between different fiber aspect ratio are evident only at low Re. Both Re and fiber aspect ratio have small effect on the variance of orientation angle.

New advances in EMG control methods of anthropomorphic prosthetic hand

Prosthetic hands are becoming more and more popular among people without a hand and it is able to perform certain manual operations in function.In biology,action potentials trigger muscle contractions,and surface electromyography(sEMG)signals are the sum of action potentials under the skin exposed by the electrodes(via sebum and

Numerical prediction of fiber motion in a branching channel flow of fiber suspensions

Fiber orientation and dispersion in the dilute fiber suspension that flows through a T-shaped branching channel are simulated numerically based on the slender-body theory. The simulated results are consistent qualitatively with the experimental data available in the literature. The results show that the spatial distribution of fibers is dependent on the fiber aspect ratio, but has no relation with the volume fraction of fiber. The content ratio of fibers near the upper wall increases monotonically with an increasing Re number, and the situation is reverse for the region near the bottom wall. The orientation of fibers depends on Re number, however, the function of fiber volume fraction and aspect ratio is negligible. The fibers near the wall and in the central region of the channel align along the flow direction at all times, but the fibers in the other parts of the channel tend to align along the flow direction only in the downstream region.

Mechatronic integration and implementation of in situ multipoint temperature measurement for seafloor hydrothermal vent

In order to provide firsthand reference data for model building and analysis of temperature field of seafloor hydrothermal vent, a temperature measurement sys- tem is designed, which can be used to measure the temperature of seafloor hydrothermal vent. The system can implement in situ multipoint temperature measurement and work for 15 days on the seafloor, so low power consumption design principle of the integrated circuit board is adopted. To enable the system to endure the high pressure on the seafloor, mechanical structure of the system is designed in terms of design principle of pressure container. The pressure test ex- periment was performed in the authoritative institution, and the results indicated that the system was safe and could work reliably on the seafloor. In the first Sino-American Joint Dive Cruise, the instruments were carried to the seafloor to work by Alvin. The experiment in the sea was successful, and the results indicated that the system could survive in the high pressure and high temperature environ- ment and record the temperature activities of hydrothermal vents. About 710000 groups of temperature data were acquired, and these are of importance for further scientific researches.

Posture control of a 3-RPS pneumatic parallel platform with parameter initialization and an adaptive robust method

A control algorithm for a 3-RPS parallel platform driven by pneumatic cylinders is discussed. All cylinders are controlled by proportional directional valves while the kinematic and dynamic properties of the system are modeled. The method of adaptive robust control is applied to the controller using a back-stepping approach and online parameter estimation. To compensate for the uncertainty and the influence caused by estimations, a fast dynamic compensator is integrated in the controller design. To prevent any influence caused by the load applied to the moving platform changing in a practical working situation, the identification of parameters is taken as the initialization of unknown parameters in the controller, which can improve the adaptability of the algorithm. Using these methods, the response rate of the parameter estimation and control performance were improved significantly.The adverse effects of load and restriction forces were eliminated by the initialization and online estimation.Experiments under different situations illustrated the effectiveness of the adaptive robust controller with parameter initialization, approaching average tracking errors of less than 1%.

A differential control method for the proportional directional valve

For the proportional directional valve controlled by two proportional solenoids, the normal control method(NCM) energizes only one solenoid at a time. The performance of the valve is greatly influenced by the nonlinearity of the proportional solenoid, such as dead zone and low force gain with a small current, and this effect cannot be eliminated by a simple dead-zone current compensation. To avoid this disadvantage, we propose the differential control method(DCM). By employing DCM, the controller outputs differential signals to simultaneously energize both solenoids of the proportional valve, and the operating point is found by analyzing the force output of the two solenoids to make a minimum variation of the current force gain. The comparisons of the valve response characteristics are made between NCM and DCM by nonlinear dynamic simulation and experiments. Simulation and experimental results show that by using DCM, the frequency response of the valve is greatly enhanced, especially when the input is small, which means that the dynamic characteristics of the proportional valve are improved.

A modified direct adaptive robust motion trajectory tracking controller of a pneumatic system

In this study, we developed and tested a high-precision motion trajectory tracking controller of a pneumatic cylinder driven by four costless on/off solenoid valves rather than by a proportional directional control valve. The relationship between the pulse width modulation(PWM) of a signal's duty cycle and control law was determined experimentally, and a mathematical model of the whole system established. Owing to unknown disturbances and unmodeled dynamics, there are considerable uncertain nonlinearities and parametric uncertainties in this pneumatic system. A modified direct adaptive robust controller(DARC) was constructed to cope with these issues. The controller employs a gradient type adaptation law based on discontinuous projection mapping to guarantee that estimated unknown model parameters stay within a known bounded region, and uses a deterministic robust control strategy to weaken the effects of unmodeled dynamics, disturbances, and parameter estimation errors. By using discontinuous projection mapping, the parameter adaptation law and the robust control law can be synthesized separately. A recursive backstepping technology is applied to account for unmatched model uncertainties. Kalman filters were designed separately to estimate the motion states and the derivative of the intermediate control law in synthesizing the deterministic robust control law. Experimental results illustrate the effectiveness of the proposed controller.