A concentration-dependent decrease in biomass, protein, RNA, DNA, and nutrient (NO3- and PO43-) uptake of Lemna minor and Azolla pinnata by Cr, Ni, and Zn was detected. Cr was found to exert maximum toxicity followed ...A concentration-dependent decrease in biomass, protein, RNA, DNA, and nutrient (NO3- and PO43-) uptake of Lemna minor and Azolla pinnata by Cr, Ni, and Zn was detected. Cr was found to exert maximum toxicity followed by Ni and Zn. Metal uptake was dependent on time and concentration of metal in the external rnedium. Both the macrophytes, however, showed preference for Zn followed by Ni and Cr. The uptake kinetics also revealed a low Vmax and high Km for Cr. L. minor was more effcient in accumulating Zn and Cr than A. pinnata in Ni. Compared to immobilized algae and bacterial capsules the test macrophytes showed a greater efficiency for metal removal展开更多
The impact dynamics, impact effect, and post-impact unstable motion sup- pression of free-floating space manipulator capturing a satellite on orbit are analyzed. Firstly, the dynamics equation of free-floating space m...The impact dynamics, impact effect, and post-impact unstable motion sup- pression of free-floating space manipulator capturing a satellite on orbit are analyzed. Firstly, the dynamics equation of free-floating space manipulator is derived using the sec- ond Lagrangian equation. Combining the momentum conservation principle, the impact dynamics and effect between the space manipulator end-effector and satellite of the cap- ture process are analyzed with the momentum impulse method. Focusing on the unstable motion of space manipulator due to the above impact effect, a robust adaptive compound control algorithm is designed to suppress the above unstable motion. There is no need to control the free-floating base position to save the jet fuel. Finally, the simulation is proposed to show the impact effect and verify the validity of the control algorithm.展开更多
The control of a free-floating space manipulator system isdiscussed. With the augmentation approach, the nonlinearparameterization problem of the dynamic equations of the spacemanipulator system is overcome. Based on ...The control of a free-floating space manipulator system isdiscussed. With the augmentation approach, the nonlinearparameterization problem of the dynamic equations of the spacemanipulator system is overcome. Based on the results, the robustcontrol scheme for free-floating space manipulator with uncer- tainpayload parameters to track the desired trajectory in jointspace isproposed, and the global convergence of the tracking is verified byusing the Lyapunov method.展开更多
This paper investigates the hydrodynamic performance of a cylindrical-dual or rectangular-single pontoon floating breakwater using the numerical method and experimental study. The numerical simulation work is based on...This paper investigates the hydrodynamic performance of a cylindrical-dual or rectangular-single pontoon floating breakwater using the numerical method and experimental study. The numerical simulation work is based on the multi-physics computational fluid dynamics(CFD) code and an innovative full-structured dynamic grid method applied to update the three-degree-of-freedom(3-DOF) rigid structure motions. As a time-marching scheme, the trapezoid analogue integral method is used to update the time integration combined with remeshing at each time step.The application of full-structured mesh elements can prevent grids distortion or deformation caused by large-scale movement and improve the stability of calculation. In movable regions, each moving zone is specified with particular motion modes(sway, heave and roll). A series of experimental studies are carried out to validate the performance of the floating body and verify the accuracy of the proposed numerical model. The results are systematically assessed in terms of wave coefficients, mooring line forces, velocity streamlines and the 3-DOF motions of the floating breakwater. When compared with the wave coefficient solutions, excellent agreements are achieved between the computed and experimental data, except in the vicinity of resonant frequency. The velocity streamlines and wave profile movement in the fluid field can also be reproduced using this numerical model.展开更多
Owing to the diversity of consumer’s demand, the traditional Sichuan brocade products have to be innovated in order to survive in a competitive environment. Since the construction of traditional Sichuan brocade was c...Owing to the diversity of consumer’s demand, the traditional Sichuan brocade products have to be innovated in order to survive in a competitive environment. Since the construction of traditional Sichuan brocade was composed of basic-weave, the surface of the fabric shows a regular interweaving planar texture and is difficult to represent a three-dimensional effect. Inspired by embroidery handcraft, this paper attempts to achieve the embroidery-like effect on the fabric through the jacquard process. Based on the multi-backed structure of traditional Sichuan brocade, we adopted the zoned-combination design mode and added extra free-floats interlacing weave in the area where we want to show the embroidered effect and arranged the interlacing points by referring to the feature of the pattern. As a result, designed Sichuan brocades by this method are capable of displaying embroidered effect with high realism and three-dimensionality. This approach improves the artistic effect of the traditional Sichuan brocade and provides a technical reference for further texture design of jacquard fabrics.展开更多
The Free-floating Flexible Dual-arm Space Robot is a highly nonlinear and coupled dynamics system. In this paper, the dynamic model is derived of a Free-floating Flexible Dual-arm Space Robot holding a rigid payload. ...The Free-floating Flexible Dual-arm Space Robot is a highly nonlinear and coupled dynamics system. In this paper, the dynamic model is derived of a Free-floating Flexible Dual-arm Space Robot holding a rigid payload. Furthermore, according to the singular perturbation method, the system is separated into a slow subsystem representing rigid body motion of the robot and a fast subsystem representing the flexible link dynamics. For the slow subsystem, based on the second method of Lyapunov, using simple quantitative bounds on the model uncertainties, a robust tracking controller design is used during the trajectory tracking phase. The optimal control method is designed in the fast subsystem to guarantee the exponential stability. With the combination of the two above, the system can track the expected trajectory accurately, even though with uncertainty in model parameters, and its flexible vibration gets suppressed, too. Finally, some simulation tests have been conducted to verify the effectiveness of the proposed methods.展开更多
This paper investigates the motion planning of redundant free-floating manipulators with seven prismatic joints. On the earth, prismatic-jointed manipulators could only position their end-effectors in a desired way. H...This paper investigates the motion planning of redundant free-floating manipulators with seven prismatic joints. On the earth, prismatic-jointed manipulators could only position their end-effectors in a desired way. However, in space, the end-effectors of free-floating manipulators can achieve both the desired orientation and desired position due to the dynamical coupling between manipulator and satellite movement, which is formally expressed by linear and angular momentum conservation laws. In this study, a tractable algorithm particle swarm optimization combined with differential evolution （PSODE） is provided to deal with the motion planning of redundant free-floating prismatic-jointed manipulators, which could avoid the pseudo inverse of the Jacobian matrix. The polynomial functions, as argument in sine functions are used to specify the joint paths. The co- efficients of the polynomials are optimized to achieve the desired end-effector orientation and position, and simulta- neously minimize the unit-mass-kinetic energy using the redundancy. Relevant simulations prove that this method pro- vides satisfactory smooth paths for redundant free-floating prismatic-jointed manipulators. This study could help to recognize the advantages of redundant prismatic-jointed space manipulators.展开更多
自由漂浮空间机器人(Free-floating space robots,FFSRs)凭借其运动自由度高、工作寿命长等优势,已成为长期在轨服务的关键无人设备。然而空间环境变化导致的外部扰动,以及因燃料消耗、系统参数辨识不准确等因素导致的模型不确定性会增...自由漂浮空间机器人(Free-floating space robots,FFSRs)凭借其运动自由度高、工作寿命长等优势,已成为长期在轨服务的关键无人设备。然而空间环境变化导致的外部扰动,以及因燃料消耗、系统参数辨识不准确等因素导致的模型不确定性会增加空间机器人高精度控制的难度。本文针对自由漂浮空间机器人存在外部扰动和模型不确定性的场景,设计了一种基于扰动补偿的模型预测控制方法。基于固定时间稳定性理论设计扰动观测器,使扰动估计误差在不依赖于初始误差的常数上界内实现收敛。同时,将扰动估计值补偿入模型预测控制器,提高集总扰动条件下预测模型的准确性,进一步地利用模型预测控制滚动优化的特点,实现了空间机器人约束条件下高精度控制。本文证明了扰动观测器与基于扰动补偿模型预测控制器的稳定性,并通过数值仿真验证了方法的有效性。展开更多
文摘A concentration-dependent decrease in biomass, protein, RNA, DNA, and nutrient (NO3- and PO43-) uptake of Lemna minor and Azolla pinnata by Cr, Ni, and Zn was detected. Cr was found to exert maximum toxicity followed by Ni and Zn. Metal uptake was dependent on time and concentration of metal in the external rnedium. Both the macrophytes, however, showed preference for Zn followed by Ni and Cr. The uptake kinetics also revealed a low Vmax and high Km for Cr. L. minor was more effcient in accumulating Zn and Cr than A. pinnata in Ni. Compared to immobilized algae and bacterial capsules the test macrophytes showed a greater efficiency for metal removal
基金supported by the National Natural Science Foundation of China(Nos.11072061 and 11372073)the Natural Science Foundation of Fujian Province(No.2010J01003)
文摘The impact dynamics, impact effect, and post-impact unstable motion sup- pression of free-floating space manipulator capturing a satellite on orbit are analyzed. Firstly, the dynamics equation of free-floating space manipulator is derived using the sec- ond Lagrangian equation. Combining the momentum conservation principle, the impact dynamics and effect between the space manipulator end-effector and satellite of the cap- ture process are analyzed with the momentum impulse method. Focusing on the unstable motion of space manipulator due to the above impact effect, a robust adaptive compound control algorithm is designed to suppress the above unstable motion. There is no need to control the free-floating base position to save the jet fuel. Finally, the simulation is proposed to show the impact effect and verify the validity of the control algorithm.
基金the National Natural Science Foundation of China(No.19872032) Aeronautical Science FoandationScience Foundation of Fuzhou University
文摘The control of a free-floating space manipulator system isdiscussed. With the augmentation approach, the nonlinearparameterization problem of the dynamic equations of the spacemanipulator system is overcome. Based on the results, the robustcontrol scheme for free-floating space manipulator with uncer- tainpayload parameters to track the desired trajectory in jointspace isproposed, and the global convergence of the tracking is verified byusing the Lyapunov method.
基金financially supported by the National Natural Science Foundation of China(Grant Nos.51579122,51609109,and 51622902)the Natural Science Found of Jiangsu Province(Grant No.BK20160556)+1 种基金the University Natural Science Research Project of Jiangsu Province(Grant No.16kjb70003)the Key Lab Foundation for Advanced Manufacturing Technology of Jiangsu Province(Grant No.CJ1506)
文摘This paper investigates the hydrodynamic performance of a cylindrical-dual or rectangular-single pontoon floating breakwater using the numerical method and experimental study. The numerical simulation work is based on the multi-physics computational fluid dynamics(CFD) code and an innovative full-structured dynamic grid method applied to update the three-degree-of-freedom(3-DOF) rigid structure motions. As a time-marching scheme, the trapezoid analogue integral method is used to update the time integration combined with remeshing at each time step.The application of full-structured mesh elements can prevent grids distortion or deformation caused by large-scale movement and improve the stability of calculation. In movable regions, each moving zone is specified with particular motion modes(sway, heave and roll). A series of experimental studies are carried out to validate the performance of the floating body and verify the accuracy of the proposed numerical model. The results are systematically assessed in terms of wave coefficients, mooring line forces, velocity streamlines and the 3-DOF motions of the floating breakwater. When compared with the wave coefficient solutions, excellent agreements are achieved between the computed and experimental data, except in the vicinity of resonant frequency. The velocity streamlines and wave profile movement in the fluid field can also be reproduced using this numerical model.
文摘Owing to the diversity of consumer’s demand, the traditional Sichuan brocade products have to be innovated in order to survive in a competitive environment. Since the construction of traditional Sichuan brocade was composed of basic-weave, the surface of the fabric shows a regular interweaving planar texture and is difficult to represent a three-dimensional effect. Inspired by embroidery handcraft, this paper attempts to achieve the embroidery-like effect on the fabric through the jacquard process. Based on the multi-backed structure of traditional Sichuan brocade, we adopted the zoned-combination design mode and added extra free-floats interlacing weave in the area where we want to show the embroidered effect and arranged the interlacing points by referring to the feature of the pattern. As a result, designed Sichuan brocades by this method are capable of displaying embroidered effect with high realism and three-dimensionality. This approach improves the artistic effect of the traditional Sichuan brocade and provides a technical reference for further texture design of jacquard fabrics.
基金This work was supported by the application foundation for basic research of Jiangsu(No.BJ98057)the innovation foundation for the scientific research of Nanjing University of Aeronautics and Astronautics(No.Y0487-031)
文摘The Free-floating Flexible Dual-arm Space Robot is a highly nonlinear and coupled dynamics system. In this paper, the dynamic model is derived of a Free-floating Flexible Dual-arm Space Robot holding a rigid payload. Furthermore, according to the singular perturbation method, the system is separated into a slow subsystem representing rigid body motion of the robot and a fast subsystem representing the flexible link dynamics. For the slow subsystem, based on the second method of Lyapunov, using simple quantitative bounds on the model uncertainties, a robust tracking controller design is used during the trajectory tracking phase. The optimal control method is designed in the fast subsystem to guarantee the exponential stability. With the combination of the two above, the system can track the expected trajectory accurately, even though with uncertainty in model parameters, and its flexible vibration gets suppressed, too. Finally, some simulation tests have been conducted to verify the effectiveness of the proposed methods.
基金supported by the National Natural Science Foundation of China (11072122)
文摘This paper investigates the motion planning of redundant free-floating manipulators with seven prismatic joints. On the earth, prismatic-jointed manipulators could only position their end-effectors in a desired way. However, in space, the end-effectors of free-floating manipulators can achieve both the desired orientation and desired position due to the dynamical coupling between manipulator and satellite movement, which is formally expressed by linear and angular momentum conservation laws. In this study, a tractable algorithm particle swarm optimization combined with differential evolution （PSODE） is provided to deal with the motion planning of redundant free-floating prismatic-jointed manipulators, which could avoid the pseudo inverse of the Jacobian matrix. The polynomial functions, as argument in sine functions are used to specify the joint paths. The co- efficients of the polynomials are optimized to achieve the desired end-effector orientation and position, and simulta- neously minimize the unit-mass-kinetic energy using the redundancy. Relevant simulations prove that this method pro- vides satisfactory smooth paths for redundant free-floating prismatic-jointed manipulators. This study could help to recognize the advantages of redundant prismatic-jointed space manipulators.
文摘自由漂浮空间机器人(Free-floating space robots,FFSRs)凭借其运动自由度高、工作寿命长等优势,已成为长期在轨服务的关键无人设备。然而空间环境变化导致的外部扰动,以及因燃料消耗、系统参数辨识不准确等因素导致的模型不确定性会增加空间机器人高精度控制的难度。本文针对自由漂浮空间机器人存在外部扰动和模型不确定性的场景,设计了一种基于扰动补偿的模型预测控制方法。基于固定时间稳定性理论设计扰动观测器,使扰动估计误差在不依赖于初始误差的常数上界内实现收敛。同时,将扰动估计值补偿入模型预测控制器,提高集总扰动条件下预测模型的准确性,进一步地利用模型预测控制滚动优化的特点,实现了空间机器人约束条件下高精度控制。本文证明了扰动观测器与基于扰动补偿模型预测控制器的稳定性,并通过数值仿真验证了方法的有效性。
