振捣机器人的应用是混凝土结构浇筑方式转型升级的关键环节之一,由于振捣过程发生在流动的湿混凝土下,振捣机器人极易与钢筋、模板发生碰撞,成为制约其应用的关键技术瓶颈之一。文章基于移动振捣机器人开展振捣机器人碰撞物识别及防碰...振捣机器人的应用是混凝土结构浇筑方式转型升级的关键环节之一,由于振捣过程发生在流动的湿混凝土下,振捣机器人极易与钢筋、模板发生碰撞,成为制约其应用的关键技术瓶颈之一。文章基于移动振捣机器人开展振捣机器人碰撞物识别及防碰撞技术研究。基于六维力传感器以及遗忘因子递归最小二乘(forgetting factor recursive least squares,FFRLS)算法实现对环境刚度和碰撞物类型识别,开发变阻抗控制算法进行振捣机器人主动柔顺控制,并设计机器人避障位姿调整策略。典型碰撞仿真实验的研究结果表明,该文所设计的振捣碰撞物识别和防碰撞柔顺控制策略可以实现对不同碰撞物的精准识别,有效避免振捣机器人与钢筋、模板的硬碰撞,提高振捣施工的安全性。展开更多
Oil-fired construction machinery(OCM)is a major source of urban air pollutants and CO_(2) emissions,and elec-trification is a crucial pathway for improving air quality and achieving China’s dual carbon goals;however,...Oil-fired construction machinery(OCM)is a major source of urban air pollutants and CO_(2) emissions,and elec-trification is a crucial pathway for improving air quality and achieving China’s dual carbon goals;however,its feasibility has not been fully explored.This study uses data envelopment analysis and the analytic hierarchy process to establish a development potential index,covering technical efficiency,economic cost,application sce-narios,and charging time and range,with an empirical analysis conducted in Beijing.The findings indicated the high feasibility of replacing OCM with electric alternatives,especially within the low-power range.Based on 2023 registered coding dat1,it is projected that by 2030,electrification could reduce regional average con-centrations of CO,NO_(x),PM_(2.5) and VOCs by 12.2%to 56.4%and reduce CO_(2) by 11.7%to 56.9%.Owing to economic considerations,small-and medium-sized machinery are particularly feasible for electrification.Key recommendations include prioritizing the electrification of forklifts,lifting platforms,and small-sized machinery in high-emission areas,particularly in central urban districts.Policies such as carbon taxes,carbon markets,and performance grading systems are suggested to incentivize electrification,along with expanding high-emission restriction zones and improving energy infrastructure to support widespread electrification.展开更多
文摘振捣机器人的应用是混凝土结构浇筑方式转型升级的关键环节之一,由于振捣过程发生在流动的湿混凝土下,振捣机器人极易与钢筋、模板发生碰撞,成为制约其应用的关键技术瓶颈之一。文章基于移动振捣机器人开展振捣机器人碰撞物识别及防碰撞技术研究。基于六维力传感器以及遗忘因子递归最小二乘(forgetting factor recursive least squares,FFRLS)算法实现对环境刚度和碰撞物类型识别,开发变阻抗控制算法进行振捣机器人主动柔顺控制,并设计机器人避障位姿调整策略。典型碰撞仿真实验的研究结果表明,该文所设计的振捣碰撞物识别和防碰撞柔顺控制策略可以实现对不同碰撞物的精准识别,有效避免振捣机器人与钢筋、模板的硬碰撞,提高振捣施工的安全性。
基金supported by the National Science and Technology Major Project of the Ministry of Science and Technology of China(No.2024ZD1200200).
文摘Oil-fired construction machinery(OCM)is a major source of urban air pollutants and CO_(2) emissions,and elec-trification is a crucial pathway for improving air quality and achieving China’s dual carbon goals;however,its feasibility has not been fully explored.This study uses data envelopment analysis and the analytic hierarchy process to establish a development potential index,covering technical efficiency,economic cost,application sce-narios,and charging time and range,with an empirical analysis conducted in Beijing.The findings indicated the high feasibility of replacing OCM with electric alternatives,especially within the low-power range.Based on 2023 registered coding dat1,it is projected that by 2030,electrification could reduce regional average con-centrations of CO,NO_(x),PM_(2.5) and VOCs by 12.2%to 56.4%and reduce CO_(2) by 11.7%to 56.9%.Owing to economic considerations,small-and medium-sized machinery are particularly feasible for electrification.Key recommendations include prioritizing the electrification of forklifts,lifting platforms,and small-sized machinery in high-emission areas,particularly in central urban districts.Policies such as carbon taxes,carbon markets,and performance grading systems are suggested to incentivize electrification,along with expanding high-emission restriction zones and improving energy infrastructure to support widespread electrification.
