In order to deal with torque pulsation problem caused by traditional control method for brushless DC （BLDC） motor and to achieve high precision and good stability, a novel control strategy is proposed. Compared with...In order to deal with torque pulsation problem caused by traditional control method for brushless DC （BLDC） motor and to achieve high precision and good stability, a novel control strategy is proposed. Compared with the traditional control scheme, by using phase voltage as a control objective and making waveform of phase current approximately quasi-sinusoidal, torque ripple of BLDC motor is reduced from the original 14% to 3.4%, while toque is increased by 3.8%. Furthermore, by detecting zero-crossings of back electromotive force （BEMF） with non-conducting phases, sensorless control is realized. The new control strategy is simple. It can minimize torque ripple, increase torque, and realize sensorless control for BLDC motor. Simulation and experiments show good performance of BLDC motor by using the new control method.展开更多
Compared to the conventional permanent magnet synchronous machine(PMSM),the main characteristic of permanent magnet torque machine(PMTM)with high torque is that armature current is high,which has a great influence on ...Compared to the conventional permanent magnet synchronous machine(PMSM),the main characteristic of permanent magnet torque machine(PMTM)with high torque is that armature current is high,which has a great influence on magnetic circuit saturation,so this paper proposes a novel analytical method(AM)considering this problem.The key of this new AM is to consider armature reaction flux and armature leakage flux,which are closely related to output torque.Firstly,the expressions,including magnetomotive force(MMF)generated by permanent magnets(PMs)and armature windings are derived,and meanwhile slotting effect is considered by planning flux path.In addition,the expression of leakage flux density generated by armature windings are calculated,and flux density equivalence coefficient of tooth is calculated to be 2/3,which is used to solve the problem of uneven saturation of each tooth.Then,based on main flux factor and leakage flux factor proposed,an improved iteration process is proposed,and by this new process,the flux density of each yoke and tooth can be obtained,which is beneficial to obtain more accurate air-gap flux density and flux linkage.Finally,a prototype of 60-pole 54-slot is fabricated,and the performances of the electric machine,such as back electromotive force(EMF)and output torque,are calculated by this new AM and finite element method(FEM).The results of FEM and experimental test show that this new AM is good enough to calculate the performance of PMTM.展开更多
The principle and design method of the large gap magnetic drive system is studied in this work. The calculation model of the torque-angle characteristic in the large gap magnetic drive system driven by traveling wave ...The principle and design method of the large gap magnetic drive system is studied in this work. The calculation model of the torque-angle characteristic in the large gap magnetic drive system driven by traveling wave magnetic field is established. The calculation model is computed by using MATLAB software, and the pattern of the system’s torque-angle characteristic is obtained by analyzing study results. These results indicate that: torque-angle characteristic and the driving torque of the system can be adjusted by changing the electric current of coil, the magnetization of permanent magnetic gear, the inner diameter of permanent magnetic gear, the coupling distance between electromagnet and permanent magnetic gear, the outer diameter of permanent magnetic gear, and the axial length of permanent magnetic gear.展开更多
Better torque performance and higher reliability have long been the focus of research for slotted limited-angle torque motors(LATMs),which are primarily used to position first-stage valves in electrohydraulic servosys...Better torque performance and higher reliability have long been the focus of research for slotted limited-angle torque motors(LATMs),which are primarily used to position first-stage valves in electrohydraulic servosystems.This paper presents a high reliability axial-flux slotted LATM with quasi-Halbach array for torque performance improvement including constant torque range(CTR)and output torque.Firstly,the structure with two sets of windings and the operation principle of the proposed slotted LATM is analyzed.Secondly,a brief design procedure is presented,the structure selections of open slot and double-stator single-rotor(DSSR)interior rotor with surface mounted quasi-Halbach permanent magnet(PM)array are illustrated,and the geometric parameters are optimized to obtain the optimal design of the proposed slotted LATM.Then,3-D finite-element method(FEM)is employed to compare the proposed slotted LATM with the conventional surface mounted PM slotted LATM in terms of cogging torque,no-load back EMF,and output torque,and the results show that the proposed LATM with quasi-Halbach array has a 10%improvement in output torque and a 25%improvement in CTR.Meanwhile,the flux linkages and torque performance of the two sets of windings under various conditions verify good magnetic isolation.Finally,prototypes of two different rotor types are manufactured and a series of experiments are performed to validate the analysis.展开更多
To avoid impacts and vibrations during the processes of acceleration and deceleration while possessing flexible working ways for cable-suspended parallel robots(CSPRs),point-to-point trajectory planning demands an und...To avoid impacts and vibrations during the processes of acceleration and deceleration while possessing flexible working ways for cable-suspended parallel robots(CSPRs),point-to-point trajectory planning demands an under-constrained cable-suspended parallel robot(UCPR)with variable angle and height cable mast as described in this paper.The end-effector of the UCPR with three cables can achieve three translational degrees of freedom(DOFs).The inverse kinematic and dynamic modeling of the UCPR considering the angle and height of cable mast are completed.The motion trajectory of the end-effector comprising six segments is given.The connection points of the trajectory segments(except for point P3 in the X direction)are devised to have zero instantaneous velocities,which ensure that the acceleration has continuity and the planned acceleration curve achieves smooth transition.The trajectory is respectively planned using three algebraic methods,including fifth degree polynomial,cycloid trajectory,and double-S velocity curve.The results indicate that the trajectory planned by fifth degree polynomial method is much closer to the given trajectory of the end-effector.Numerical simulation and experiments are accomplished for the given trajectory based on fifth degree polynomial planning.At the points where the velocity suddenly changes,the length and tension variation curves of the planned and unplanned three cables are compared and analyzed.The OptiTrack motion capture system is adopted to track the end-effector of the UCPR during the experiment.The effectiveness and feasibility of fifth degree polynomial planning are validated.展开更多
The Dividing Distribution Function (DDF) method is one of the methods by which the particle size distribution of ultrafine powder can be evaluated from its small angle X-ray scattering data. In this paper, the stabili...The Dividing Distribution Function (DDF) method is one of the methods by which the particle size distribution of ultrafine powder can be evaluated from its small angle X-ray scattering data. In this paper, the stability of the solution obtained from DDF method has been investigated through optimizing the coefficient matrix, introducing a damping factor and a least square treatment. All calculations were accomplished with a microcomputer. It was shown that the average deviations of the size distribution obtained are not larger than the assigned random errors to the scattering intensities as long as the corresponding requirements are satisfied.展开更多
This paper presents a new method to estimate the height of the atmospheric boundary layer(ABL) by using COSMIC radio occultation bending angle(BA) data. Using the numerical differentiation method combined with the reg...This paper presents a new method to estimate the height of the atmospheric boundary layer(ABL) by using COSMIC radio occultation bending angle(BA) data. Using the numerical differentiation method combined with the regularization technique, the first derivative of BA profiles is retrieved, and the height at which the first derivative of BA has the global minimum is defined to be the ABL height. To reflect the reliability of estimated ABL heights, the sharpness parameter is introduced, according to the relative minimum of the BA derivative. Then, it is applied to four months of COSMIC BA data(January, April, July, and October in 2008), and the ABL heights estimated are compared with two kinds of ABL heights from COSMIC products and with the heights determined by the finite difference method upon the refractivity data. For sharp ABL tops(large sharpness parameters), there is little difference between the ABL heights determined by different methods, i.e.,the uncertainties are small; whereas, for non-sharp ABL tops(small sharpness parameters), big differences exist in the ABL heights obtained by different methods, which means large uncertainties for different methods. In addition, the new method can detect thin ABLs and provide a reference ABL height in the cases eliminated by other methods. Thus, the application of the numerical differentiation method combined with the regularization technique to COSMIC BA data is an appropriate choice and has further application value.展开更多
Real-time seam tracking can improve welding quality and enhance welding efficiency during the welding process in automobile manufacturing.However,the teaching-playing welding process,an off-line seam tracking method,i...Real-time seam tracking can improve welding quality and enhance welding efficiency during the welding process in automobile manufacturing.However,the teaching-playing welding process,an off-line seam tracking method,is still dominant in automobile industry,which is less flexible when welding objects or situation change.A novel real-time algorithm consisting of seam detection and generation is proposed to track seam.Using captured 3D points,space vectors were created between two adjacent points along each laser line and then a vector angle based algorithm was developed to detect target points on the seam.Least square method was used to fit target points to a welding trajectory for seam tracking.Furthermore,the real-time seam tracking process was simulated in MATLAB/Simulink.The trend of joint angles vs.time was logged and a comparison between the off-line and the proposed seam tracking algorithm was conducted.Results show that the proposed real-time seam tracking algorithm can work in a real-time scenario and have high accuracy in welding point positioning.展开更多
Switched reluctance motor(SRM)usually adopts Direct Instantaneous Torque Control(DITC)to suppress torque ripple.However,due to the fixed turn-on angle and the control mode of the two-phase exchange region,the conventi...Switched reluctance motor(SRM)usually adopts Direct Instantaneous Torque Control(DITC)to suppress torque ripple.However,due to the fixed turn-on angle and the control mode of the two-phase exchange region,the conventional DITC control method has low adaptability in different working conditions,which will lead to large torque ripple.For this problem,an improved DITC control method based on turn-on angle optimization is proposed in this paper.Firstly,the improved BP neural network is used to construct a nonlinear torque model,so that the torque can be accurately fed back in real time.Secondly,the turn-on angle optimization algorithm based on improved GRNN neural network is established,so that the turn-on angle can be adjusted adaptively online.Then,according to the magnitude of inductance change rate,the two-phase exchange region is divided into two regions,and the phase with larger inductance change rate and current is selected to provide torque in the sub-regions.Finally,taking a 3-phase 6/20 SRM as example,simulation and experimental verification are carried out to verify the effectiveness of this method.展开更多
Accurate quantification of the spin–orbit torques(SOTs) is critical for the identification and applications of new spin-orbitronic effects. One of the most popular techniques to quantify the SOTs is the “switching a...Accurate quantification of the spin–orbit torques(SOTs) is critical for the identification and applications of new spin-orbitronic effects. One of the most popular techniques to quantify the SOTs is the “switching angle shift”, where the applied direct current is assumed to shift, via domain wall depinning during anti-domain expansion, the switching angle of a perpendicular magnetization in a linear proportional manner under a large rotating magnetic field. Here, we report that, for the most commonly employed perpendicular magnetization heterostructures in spintronics(e.g., those based on FeCoB, Co, and Co/Ni multilayers), the switching angle shift considerably misestimates the SOT within the domain wall depinning analysis of the slope of linear-in-current scaling and may also have a non-zero residual value at zero direct current. Our experiments and simulations unveil that the switching angle shift is most likely dominated by chiral asymmetric nucleation rather than expansion of anti-domains. The in-plane field from external magnets and current-induced SOTs lowers the perpendicular nucleation field and thus reduces the required switching angle, ultimately leading to an underestimation of SOTs by domain wall depinning analysis. These results have advanced our understanding of magnetization switching in spintronic devices.展开更多
Branch angles are an important plant morphological trait affecting light interception within forest canopies.However,studies on branch angles have been limited due to the time-consuming nature of manual measurements u...Branch angles are an important plant morphological trait affecting light interception within forest canopies.However,studies on branch angles have been limited due to the time-consuming nature of manual measurements using a protractor.Terrestrial laser scanning(TLS),however,provides new opportunities to measure branch angles more efficiently.Despite this potential,studies validating branch angle measurements from TLS have been limited.Here,our aim is to evaluate both manual and automatic branch angle measurements of European beech from TLS data using traditional field-measurements with a protractor as a reference.We evaluated the accuracy of branch angle measurements based on four automated algorithms(aRchiQSM,TreeQSM,Laplacian,SemanticLaplacian)from TLS data.Additionally,we assessed different ways of manual branch angle measurements in the field.Our study was based on a dataset comprising 124 branch angles measured from six European beech in a European deciduous forest.Our results show that manual branch angle measurements from TLS data are in high agreement with the reference(root-mean-squared error,RMSE:[3.57°-4.18°],concordance correlation coefficient,CCC:[0.950.97])across different branch length positions.Automated algorithms also are in high agreement with the reference although RMSE is approximately twice as large compared to manual branch angle measurements from TLS(RMSE:[9.29°-10.55°],CCC:[0.830.86])with manual leaf points removal.When applying the automatic wood-leaf separation algorithm,the performance of the four methods declined significantly,with only approximately 20 branch angles successfully identified.Moreover,it is important to note that there is no influence of the measurement position(branch surface versus center)for branch angle measurements.However,for curved branches,the selection of branch measurement length significantly impacts the branch angle measurement.This study provides a comprehensive understanding of branch angle measurements in forests.We show that automated measurement methods based on TLS data of branch angles are a valuable tool to quantify branch angles at larger scales.展开更多
The mechanisms of enhancing spin-orbit torque(SOT) have attracted significant attention, particularly regarding the influence of extrinsic scattering mechanisms on SOT efficiency, as they complement intrinsic contribu...The mechanisms of enhancing spin-orbit torque(SOT) have attracted significant attention, particularly regarding the influence of extrinsic scattering mechanisms on SOT efficiency, as they complement intrinsic contributions. In multilayer systems, extrinsic interfacial scattering, along with scattering from defects or impurities inside the materials, plays a crucial role in affecting the SOT efficiency. In this study, we successfully fabricated high-quality epitaxially grown [Ir/Pt]N superlattices with an increasing number of interfaces using a magnetron sputtering system to investigate the contribution of extrinsic interfacial scattering to SOT efficiency. We measured SOT efficiency through spin-torque ferromagnetic resonance methods and determined the spin Hall angle using the spin pumping technique. Additionally, we calculated spin transparency based on the SOT efficiency and spin Hall angle. Our findings indicate that the values of SOT efficiency, spin Hall angle, and spin transparency are enhanced in the superlattice structure compared to Pt, which we attribute to the increase in interfacial scattering.This research offers an effective strategy for designing and fabricating advanced spintronic devices.展开更多
Rolling torque for a seventeen passes, 125 x 125 mm HC SS316 billets rolled to a 16 mm diameter rod have been simulated. Torque calculations based on pressure exerted by the metal on the rolls and the area of contact ...Rolling torque for a seventeen passes, 125 x 125 mm HC SS316 billets rolled to a 16 mm diameter rod have been simulated. Torque calculations based on pressure exerted by the metal on the rolls and the area of contact during longitudinal rolling were obtained using the temperature values derived using the “Phantom Roll” method. Investigations were carried out for four different starting mean rolling temperatures between 988℃ and 1191℃ and at four different strain rates of 0.4s-1, 0.8s-1, 1.2 s-1 and 1.6s-1. Results obtained showed that for all cases, rolling in grooved rolls required higher torque compared to rolling in flat rolls. In general, it was observed that torque value increased as starting temperature decreases and for each set of starting temperatures, the torque value increases with temperature. In all cases, the torque values for grooved rolls were higher than those for flat rolls. This was due to the higher frictional effect, occasioned by the larger contact area between roll and stock. Results obtained also revealed an inverse relationship between strain rate and torque.展开更多
The meaning of each part of the screw-on curve,the definition of shoulder torque,and the common characteristics of the screw-on curve are introduced.Moreover,the principle and shortcomings of the commonly used method ...The meaning of each part of the screw-on curve,the definition of shoulder torque,and the common characteristics of the screw-on curve are introduced.Moreover,the principle and shortcomings of the commonly used method of curve curvature radius are discussed.A new method of sealing surface deformation is proposed based on the requirements of shoulder torque recognition.The calculation method and principle of PW value are elucidated and the advantages of this method are summarized.The proposed method considers the difference value of tightening torque and calculates the elastic deformation of the sealing surface,accurately reflecting the state of the thread compound and the correlation between torque change and elastic deformation of the sealing surface after compression.展开更多
To investigate the spatiotemporal variations in the mixed layer depth(MLD)in the Arctic basins,a new criterion to determine the MLD,called the improved maximum angle method(IMAM),was developed.A total of 45123 potenti...To investigate the spatiotemporal variations in the mixed layer depth(MLD)in the Arctic basins,a new criterion to determine the MLD,called the improved maximum angle method(IMAM),was developed.A total of 45123 potential density profiles collected using Ice-Tethered Profilers(ITPs)in the Arctic basins during 2005-2021 were used to demonstrate the method’s effectiveness.By comparing the results obtained by the fixed threshold method(FTM),percentage threshold method(PTM),and maximum gradient method(MGM)for profiles in the Canada Basin,Makarov Basin,and Eurasian Basin,we determined that the quality index(1.0 for perfect identification of the MLD)of the IMAM regarding the assessment of the MLD determination method reached 0.94,which is much greater than those of other criteria.Moreover,two types of the density profiles were identified based on the mixed layer development stage.The MLDs of the typical profiles determined using the IMAM were found to have better consistency with the original definition.By utilizing the new mixed layer criterion,the seasonal variations and regional differences in the MLD in the Arctic basins were analyzed.Spatially,the summer and winter MLDs in the Canada Basin were the shallowest(13.55 m in summer,26.76 m in winter)than those in the Makarov(29.51 m in summer,49.08 m in winter)and Eurasian(20.36 m in summer,46.81 m in winter)basins due to the stable stratification in the upper ocean and the subsequent small effects of dynamic and thermodynamic processes(wind-driven stirring and brine rejection)in the Canada Basin.Seasonally,in the three Arctic basins,the average MLD was shallowest(22.77 m)in summer;it deepened through autumn and reached a winter maximum(41.12 m).展开更多
With the development of ultra-wide coverage technology,multibeam echo-sounder(MBES)system has put forward higher requirements for localization accuracy and computational efficiency of ray tracing method.The classical ...With the development of ultra-wide coverage technology,multibeam echo-sounder(MBES)system has put forward higher requirements for localization accuracy and computational efficiency of ray tracing method.The classical equivalent sound speed profile(ESSP)method replaces the measured sound velocity profile(SVP)with a simple constant gradient SVP,reducing the computational workload of beam positioning.However,in deep-sea environment,the depth measurement error of this method rapidly increases from the central beam to the edge beam.By analyzing the positioning error of the ESSP method at edge beam,it is discovered that the positioning error increases monotonically with the incident angle,and the relationship between them could be expressed by polynomial function.Therefore,an error correction algorithm based on polynomial fitting is obtained.The simulation experiment conducted on an inclined seafloor shows that the proposed algorithm exhibits comparable efficiency to the original ESSP method,while significantly improving bathymetry accuracy by nearly eight times in the edge beam.展开更多
The contact angle is one of important parameters to simulate droplet spreading and impingement phenomena on the surface. In the most numerical research, it is assumed constant value and it is implemented as boundary c...The contact angle is one of important parameters to simulate droplet spreading and impingement phenomena on the surface. In the most numerical research, it is assumed constant value and it is implemented as boundary condition. However, contact angle is changed according to contact line velocity and time. Hence, for accurate simulation, dynamic contact angle which has various values as time elapsed is adopted. In the present study, the numerical analysis is performed on the droplet spreading phenomena considering dynamic contact angle function which is obtained from single droplet spreading experiment on the flat and bare surface. The CIP （cubic interpolated pseudo-particle） method by Yabe is used for analysis of interface between liquid and gas phases. The numerical results considering contact angle function which newly modeled as time and contact angle are compared with numerical results considering Hoffman＇s function and experimental data for range of Weber number which are 4.427 and 11.334. In contrast of numerical result considering Hoffman＇s function, the numerical result shows good agreement with experimental data as time elapsed in contact angle evolution, deformation of droplet spreading radius and height. Indeed, overall, the results display the increasing maximum spreading radius and the decreasing height as Weber numbers increased.展开更多
In order to enhance the bearing capacity of non-circular gear pair, the non-circular gear pair with double generating angles is proposed based on the design idea of unsymmetrical gear with double pressure angles. The ...In order to enhance the bearing capacity of non-circular gear pair, the non-circular gear pair with double generating angles is proposed based on the design idea of unsymmetrical gear with double pressure angles. The tooth profile is designed by generating cutting theory, the pure rolling mathematic model that the center line of unsymmetrical rack roll along non-circular pitch curve is built, the digital model of non-circular gear with double generating angles is created through the second development method of CAD software, and then the drive characteristic and tooth strength are analyzed. The results show that the design method for double generating angles non-circular gear proposed in this paper is feasible, which is significant to improve the bearing capacity of non-circular gear pair.展开更多
In order to study influences of geometric parameters on the T-shaped components local loading process, a new mathematical model considering the fillet radius and draft angle was established by using the slab method. T...In order to study influences of geometric parameters on the T-shaped components local loading process, a new mathematical model considering the fillet radius and draft angle was established by using the slab method. The results obtained by the mathematical model agree with the data form experiment and numerical simulation, and the results are closer to the experimental and simulation results. The influence of draft angle may be neglected under the forming conditions used. The influence of fillet radius is notable, especially in the case that the ratio of fillet radius to rib width is less than 0.75.展开更多
基金Project supported by the Shanghai Leading Academic Discipline Project (Grant No.T0103)
文摘In order to deal with torque pulsation problem caused by traditional control method for brushless DC （BLDC） motor and to achieve high precision and good stability, a novel control strategy is proposed. Compared with the traditional control scheme, by using phase voltage as a control objective and making waveform of phase current approximately quasi-sinusoidal, torque ripple of BLDC motor is reduced from the original 14% to 3.4%, while toque is increased by 3.8%. Furthermore, by detecting zero-crossings of back electromotive force （BEMF） with non-conducting phases, sensorless control is realized. The new control strategy is simple. It can minimize torque ripple, increase torque, and realize sensorless control for BLDC motor. Simulation and experiments show good performance of BLDC motor by using the new control method.
基金supported in part by the National Natural Science Foundation of China under Grant 52125701.
文摘Compared to the conventional permanent magnet synchronous machine(PMSM),the main characteristic of permanent magnet torque machine(PMTM)with high torque is that armature current is high,which has a great influence on magnetic circuit saturation,so this paper proposes a novel analytical method(AM)considering this problem.The key of this new AM is to consider armature reaction flux and armature leakage flux,which are closely related to output torque.Firstly,the expressions,including magnetomotive force(MMF)generated by permanent magnets(PMs)and armature windings are derived,and meanwhile slotting effect is considered by planning flux path.In addition,the expression of leakage flux density generated by armature windings are calculated,and flux density equivalence coefficient of tooth is calculated to be 2/3,which is used to solve the problem of uneven saturation of each tooth.Then,based on main flux factor and leakage flux factor proposed,an improved iteration process is proposed,and by this new process,the flux density of each yoke and tooth can be obtained,which is beneficial to obtain more accurate air-gap flux density and flux linkage.Finally,a prototype of 60-pole 54-slot is fabricated,and the performances of the electric machine,such as back electromotive force(EMF)and output torque,are calculated by this new AM and finite element method(FEM).The results of FEM and experimental test show that this new AM is good enough to calculate the performance of PMTM.
文摘The principle and design method of the large gap magnetic drive system is studied in this work. The calculation model of the torque-angle characteristic in the large gap magnetic drive system driven by traveling wave magnetic field is established. The calculation model is computed by using MATLAB software, and the pattern of the system’s torque-angle characteristic is obtained by analyzing study results. These results indicate that: torque-angle characteristic and the driving torque of the system can be adjusted by changing the electric current of coil, the magnetization of permanent magnetic gear, the inner diameter of permanent magnetic gear, the coupling distance between electromagnet and permanent magnetic gear, the outer diameter of permanent magnetic gear, and the axial length of permanent magnetic gear.
基金supported in part by the National Nature Science Foundation of China(NSFC)under Project 52122705。
文摘Better torque performance and higher reliability have long been the focus of research for slotted limited-angle torque motors(LATMs),which are primarily used to position first-stage valves in electrohydraulic servosystems.This paper presents a high reliability axial-flux slotted LATM with quasi-Halbach array for torque performance improvement including constant torque range(CTR)and output torque.Firstly,the structure with two sets of windings and the operation principle of the proposed slotted LATM is analyzed.Secondly,a brief design procedure is presented,the structure selections of open slot and double-stator single-rotor(DSSR)interior rotor with surface mounted quasi-Halbach permanent magnet(PM)array are illustrated,and the geometric parameters are optimized to obtain the optimal design of the proposed slotted LATM.Then,3-D finite-element method(FEM)is employed to compare the proposed slotted LATM with the conventional surface mounted PM slotted LATM in terms of cogging torque,no-load back EMF,and output torque,and the results show that the proposed LATM with quasi-Halbach array has a 10%improvement in output torque and a 25%improvement in CTR.Meanwhile,the flux linkages and torque performance of the two sets of windings under various conditions verify good magnetic isolation.Finally,prototypes of two different rotor types are manufactured and a series of experiments are performed to validate the analysis.
基金National Natural Science Foundation of China(Grant Nos.51925502,51575150).
文摘To avoid impacts and vibrations during the processes of acceleration and deceleration while possessing flexible working ways for cable-suspended parallel robots(CSPRs),point-to-point trajectory planning demands an under-constrained cable-suspended parallel robot(UCPR)with variable angle and height cable mast as described in this paper.The end-effector of the UCPR with three cables can achieve three translational degrees of freedom(DOFs).The inverse kinematic and dynamic modeling of the UCPR considering the angle and height of cable mast are completed.The motion trajectory of the end-effector comprising six segments is given.The connection points of the trajectory segments(except for point P3 in the X direction)are devised to have zero instantaneous velocities,which ensure that the acceleration has continuity and the planned acceleration curve achieves smooth transition.The trajectory is respectively planned using three algebraic methods,including fifth degree polynomial,cycloid trajectory,and double-S velocity curve.The results indicate that the trajectory planned by fifth degree polynomial method is much closer to the given trajectory of the end-effector.Numerical simulation and experiments are accomplished for the given trajectory based on fifth degree polynomial planning.At the points where the velocity suddenly changes,the length and tension variation curves of the planned and unplanned three cables are compared and analyzed.The OptiTrack motion capture system is adopted to track the end-effector of the UCPR during the experiment.The effectiveness and feasibility of fifth degree polynomial planning are validated.
文摘The Dividing Distribution Function (DDF) method is one of the methods by which the particle size distribution of ultrafine powder can be evaluated from its small angle X-ray scattering data. In this paper, the stability of the solution obtained from DDF method has been investigated through optimizing the coefficient matrix, introducing a damping factor and a least square treatment. All calculations were accomplished with a microcomputer. It was shown that the average deviations of the size distribution obtained are not larger than the assigned random errors to the scattering intensities as long as the corresponding requirements are satisfied.
基金supported by the National Natural Science Foundation of China (Grant No. 41475021)
文摘This paper presents a new method to estimate the height of the atmospheric boundary layer(ABL) by using COSMIC radio occultation bending angle(BA) data. Using the numerical differentiation method combined with the regularization technique, the first derivative of BA profiles is retrieved, and the height at which the first derivative of BA has the global minimum is defined to be the ABL height. To reflect the reliability of estimated ABL heights, the sharpness parameter is introduced, according to the relative minimum of the BA derivative. Then, it is applied to four months of COSMIC BA data(January, April, July, and October in 2008), and the ABL heights estimated are compared with two kinds of ABL heights from COSMIC products and with the heights determined by the finite difference method upon the refractivity data. For sharp ABL tops(large sharpness parameters), there is little difference between the ABL heights determined by different methods, i.e.,the uncertainties are small; whereas, for non-sharp ABL tops(small sharpness parameters), big differences exist in the ABL heights obtained by different methods, which means large uncertainties for different methods. In addition, the new method can detect thin ABLs and provide a reference ABL height in the cases eliminated by other methods. Thus, the application of the numerical differentiation method combined with the regularization technique to COSMIC BA data is an appropriate choice and has further application value.
基金Supported by Ministerial Level Advanced Research Foundation(65822576)Beijing Municipal Education Commission(KM201310858004,KM201310858001)
文摘Real-time seam tracking can improve welding quality and enhance welding efficiency during the welding process in automobile manufacturing.However,the teaching-playing welding process,an off-line seam tracking method,is still dominant in automobile industry,which is less flexible when welding objects or situation change.A novel real-time algorithm consisting of seam detection and generation is proposed to track seam.Using captured 3D points,space vectors were created between two adjacent points along each laser line and then a vector angle based algorithm was developed to detect target points on the seam.Least square method was used to fit target points to a welding trajectory for seam tracking.Furthermore,the real-time seam tracking process was simulated in MATLAB/Simulink.The trend of joint angles vs.time was logged and a comparison between the off-line and the proposed seam tracking algorithm was conducted.Results show that the proposed real-time seam tracking algorithm can work in a real-time scenario and have high accuracy in welding point positioning.
基金supported by National Natural Science Foundation of China under Grant 52167005Science and Technology Research Project of Jiangxi Provincial Department of Education under Grant GJJ200826。
文摘Switched reluctance motor(SRM)usually adopts Direct Instantaneous Torque Control(DITC)to suppress torque ripple.However,due to the fixed turn-on angle and the control mode of the two-phase exchange region,the conventional DITC control method has low adaptability in different working conditions,which will lead to large torque ripple.For this problem,an improved DITC control method based on turn-on angle optimization is proposed in this paper.Firstly,the improved BP neural network is used to construct a nonlinear torque model,so that the torque can be accurately fed back in real time.Secondly,the turn-on angle optimization algorithm based on improved GRNN neural network is established,so that the turn-on angle can be adjusted adaptively online.Then,according to the magnitude of inductance change rate,the two-phase exchange region is divided into two regions,and the phase with larger inductance change rate and current is selected to provide torque in the sub-regions.Finally,taking a 3-phase 6/20 SRM as example,simulation and experimental verification are carried out to verify the effectiveness of this method.
基金supported by the National Key Research and Development Program of China (Grant No.2022YFA1204000)partly by the National Natural Science Foundation of China (Grant Nos.12274405,12304155,and 12393831)the Beijing Natural Science Foundation (Grant No.Z230006)。
文摘Accurate quantification of the spin–orbit torques(SOTs) is critical for the identification and applications of new spin-orbitronic effects. One of the most popular techniques to quantify the SOTs is the “switching angle shift”, where the applied direct current is assumed to shift, via domain wall depinning during anti-domain expansion, the switching angle of a perpendicular magnetization in a linear proportional manner under a large rotating magnetic field. Here, we report that, for the most commonly employed perpendicular magnetization heterostructures in spintronics(e.g., those based on FeCoB, Co, and Co/Ni multilayers), the switching angle shift considerably misestimates the SOT within the domain wall depinning analysis of the slope of linear-in-current scaling and may also have a non-zero residual value at zero direct current. Our experiments and simulations unveil that the switching angle shift is most likely dominated by chiral asymmetric nucleation rather than expansion of anti-domains. The in-plane field from external magnets and current-induced SOTs lowers the perpendicular nucleation field and thus reduces the required switching angle, ultimately leading to an underestimation of SOTs by domain wall depinning analysis. These results have advanced our understanding of magnetization switching in spintronic devices.
基金supported by the Chinese Scholarship Council under Grant 202106910006.
文摘Branch angles are an important plant morphological trait affecting light interception within forest canopies.However,studies on branch angles have been limited due to the time-consuming nature of manual measurements using a protractor.Terrestrial laser scanning(TLS),however,provides new opportunities to measure branch angles more efficiently.Despite this potential,studies validating branch angle measurements from TLS have been limited.Here,our aim is to evaluate both manual and automatic branch angle measurements of European beech from TLS data using traditional field-measurements with a protractor as a reference.We evaluated the accuracy of branch angle measurements based on four automated algorithms(aRchiQSM,TreeQSM,Laplacian,SemanticLaplacian)from TLS data.Additionally,we assessed different ways of manual branch angle measurements in the field.Our study was based on a dataset comprising 124 branch angles measured from six European beech in a European deciduous forest.Our results show that manual branch angle measurements from TLS data are in high agreement with the reference(root-mean-squared error,RMSE:[3.57°-4.18°],concordance correlation coefficient,CCC:[0.950.97])across different branch length positions.Automated algorithms also are in high agreement with the reference although RMSE is approximately twice as large compared to manual branch angle measurements from TLS(RMSE:[9.29°-10.55°],CCC:[0.830.86])with manual leaf points removal.When applying the automatic wood-leaf separation algorithm,the performance of the four methods declined significantly,with only approximately 20 branch angles successfully identified.Moreover,it is important to note that there is no influence of the measurement position(branch surface versus center)for branch angle measurements.However,for curved branches,the selection of branch measurement length significantly impacts the branch angle measurement.This study provides a comprehensive understanding of branch angle measurements in forests.We show that automated measurement methods based on TLS data of branch angles are a valuable tool to quantify branch angles at larger scales.
基金financially supported by the Science Center of the National Science Foundation of China (Grant No. 52088101)the National Natural Science Foundation of China (Grant Nos. 52161160334, 12274437, 12174426, and 52271237)+1 种基金the Chinese Academy of Sciences (CAS) Project for Young Scientists in Basic Research No. YSBR-084the CAS Youth Interdisciplinary Team。
文摘The mechanisms of enhancing spin-orbit torque(SOT) have attracted significant attention, particularly regarding the influence of extrinsic scattering mechanisms on SOT efficiency, as they complement intrinsic contributions. In multilayer systems, extrinsic interfacial scattering, along with scattering from defects or impurities inside the materials, plays a crucial role in affecting the SOT efficiency. In this study, we successfully fabricated high-quality epitaxially grown [Ir/Pt]N superlattices with an increasing number of interfaces using a magnetron sputtering system to investigate the contribution of extrinsic interfacial scattering to SOT efficiency. We measured SOT efficiency through spin-torque ferromagnetic resonance methods and determined the spin Hall angle using the spin pumping technique. Additionally, we calculated spin transparency based on the SOT efficiency and spin Hall angle. Our findings indicate that the values of SOT efficiency, spin Hall angle, and spin transparency are enhanced in the superlattice structure compared to Pt, which we attribute to the increase in interfacial scattering.This research offers an effective strategy for designing and fabricating advanced spintronic devices.
文摘Rolling torque for a seventeen passes, 125 x 125 mm HC SS316 billets rolled to a 16 mm diameter rod have been simulated. Torque calculations based on pressure exerted by the metal on the rolls and the area of contact during longitudinal rolling were obtained using the temperature values derived using the “Phantom Roll” method. Investigations were carried out for four different starting mean rolling temperatures between 988℃ and 1191℃ and at four different strain rates of 0.4s-1, 0.8s-1, 1.2 s-1 and 1.6s-1. Results obtained showed that for all cases, rolling in grooved rolls required higher torque compared to rolling in flat rolls. In general, it was observed that torque value increased as starting temperature decreases and for each set of starting temperatures, the torque value increases with temperature. In all cases, the torque values for grooved rolls were higher than those for flat rolls. This was due to the higher frictional effect, occasioned by the larger contact area between roll and stock. Results obtained also revealed an inverse relationship between strain rate and torque.
文摘The meaning of each part of the screw-on curve,the definition of shoulder torque,and the common characteristics of the screw-on curve are introduced.Moreover,the principle and shortcomings of the commonly used method of curve curvature radius are discussed.A new method of sealing surface deformation is proposed based on the requirements of shoulder torque recognition.The calculation method and principle of PW value are elucidated and the advantages of this method are summarized.The proposed method considers the difference value of tightening torque and calculates the elastic deformation of the sealing surface,accurately reflecting the state of the thread compound and the correlation between torque change and elastic deformation of the sealing surface after compression.
基金Supported by the National Key R&D Program of China(Nos.2018 YFA 0605903,2019 YFC 1509101)the National Natural Science Foundation of China(No.41976218)the Fundamental Research Funds for the Central Universities(No.202165005)。
文摘To investigate the spatiotemporal variations in the mixed layer depth(MLD)in the Arctic basins,a new criterion to determine the MLD,called the improved maximum angle method(IMAM),was developed.A total of 45123 potential density profiles collected using Ice-Tethered Profilers(ITPs)in the Arctic basins during 2005-2021 were used to demonstrate the method’s effectiveness.By comparing the results obtained by the fixed threshold method(FTM),percentage threshold method(PTM),and maximum gradient method(MGM)for profiles in the Canada Basin,Makarov Basin,and Eurasian Basin,we determined that the quality index(1.0 for perfect identification of the MLD)of the IMAM regarding the assessment of the MLD determination method reached 0.94,which is much greater than those of other criteria.Moreover,two types of the density profiles were identified based on the mixed layer development stage.The MLDs of the typical profiles determined using the IMAM were found to have better consistency with the original definition.By utilizing the new mixed layer criterion,the seasonal variations and regional differences in the MLD in the Arctic basins were analyzed.Spatially,the summer and winter MLDs in the Canada Basin were the shallowest(13.55 m in summer,26.76 m in winter)than those in the Makarov(29.51 m in summer,49.08 m in winter)and Eurasian(20.36 m in summer,46.81 m in winter)basins due to the stable stratification in the upper ocean and the subsequent small effects of dynamic and thermodynamic processes(wind-driven stirring and brine rejection)in the Canada Basin.Seasonally,in the three Arctic basins,the average MLD was shallowest(22.77 m)in summer;it deepened through autumn and reached a winter maximum(41.12 m).
基金The Natural Science Foundation of Shandong Province of China under contract Nos ZR2022MA051 and ZR2020MA090the National Natural Science Foundation of China under contract No.U22A2012+2 种基金China Postdoctoral Science Foundation under contract No.2020M670891the SDUST Research Fund under contract No.2019TDJH103the Talent Introduction Plan for Youth Innovation Team in universities of Shandong Province(innovation team of satellite positioning and navigation)。
文摘With the development of ultra-wide coverage technology,multibeam echo-sounder(MBES)system has put forward higher requirements for localization accuracy and computational efficiency of ray tracing method.The classical equivalent sound speed profile(ESSP)method replaces the measured sound velocity profile(SVP)with a simple constant gradient SVP,reducing the computational workload of beam positioning.However,in deep-sea environment,the depth measurement error of this method rapidly increases from the central beam to the edge beam.By analyzing the positioning error of the ESSP method at edge beam,it is discovered that the positioning error increases monotonically with the incident angle,and the relationship between them could be expressed by polynomial function.Therefore,an error correction algorithm based on polynomial fitting is obtained.The simulation experiment conducted on an inclined seafloor shows that the proposed algorithm exhibits comparable efficiency to the original ESSP method,while significantly improving bathymetry accuracy by nearly eight times in the edge beam.
文摘The contact angle is one of important parameters to simulate droplet spreading and impingement phenomena on the surface. In the most numerical research, it is assumed constant value and it is implemented as boundary condition. However, contact angle is changed according to contact line velocity and time. Hence, for accurate simulation, dynamic contact angle which has various values as time elapsed is adopted. In the present study, the numerical analysis is performed on the droplet spreading phenomena considering dynamic contact angle function which is obtained from single droplet spreading experiment on the flat and bare surface. The CIP （cubic interpolated pseudo-particle） method by Yabe is used for analysis of interface between liquid and gas phases. The numerical results considering contact angle function which newly modeled as time and contact angle are compared with numerical results considering Hoffman＇s function and experimental data for range of Weber number which are 4.427 and 11.334. In contrast of numerical result considering Hoffman＇s function, the numerical result shows good agreement with experimental data as time elapsed in contact angle evolution, deformation of droplet spreading radius and height. Indeed, overall, the results display the increasing maximum spreading radius and the decreasing height as Weber numbers increased.
基金Supported by National Natural Science Foundation of China(No.51275147)
文摘In order to enhance the bearing capacity of non-circular gear pair, the non-circular gear pair with double generating angles is proposed based on the design idea of unsymmetrical gear with double pressure angles. The tooth profile is designed by generating cutting theory, the pure rolling mathematic model that the center line of unsymmetrical rack roll along non-circular pitch curve is built, the digital model of non-circular gear with double generating angles is created through the second development method of CAD software, and then the drive characteristic and tooth strength are analyzed. The results show that the design method for double generating angles non-circular gear proposed in this paper is feasible, which is significant to improve the bearing capacity of non-circular gear pair.
基金Project (50935007) supported by the National Natural Science Foundation for Key Program of ChinaProject (2010CB731701) supported by the National Basic Research Program of ChinaProject (50905145) supported by the National Natural Science Foundation of China
文摘In order to study influences of geometric parameters on the T-shaped components local loading process, a new mathematical model considering the fillet radius and draft angle was established by using the slab method. The results obtained by the mathematical model agree with the data form experiment and numerical simulation, and the results are closer to the experimental and simulation results. The influence of draft angle may be neglected under the forming conditions used. The influence of fillet radius is notable, especially in the case that the ratio of fillet radius to rib width is less than 0.75.
