Dragline excavators are closed-loop mining manipulators that operate using a rigid multilink framework and rope and rigging system,which constitute its front-end assembly.The arrangements of dragline front-end assembl...Dragline excavators are closed-loop mining manipulators that operate using a rigid multilink framework and rope and rigging system,which constitute its front-end assembly.The arrangements of dragline front-end assembly provide the necessary motion of the dragline bucket within its operating radius.The assembly resembles a five-link closed kinematic chain that has two independent generalized coordinates of drag and hoist ropes and one dependent generalized coordinate of dump rope.Previous models failed to represent the actual closed loop of dragline front-end assembly,nor did they describe the maneuverability of dragline ropes under imposed geometric constraints.Therefore,a three degrees of freedom kinematic model of the dragline front-end is developed using the concept of generalized speeds.It contains all relevant configuration and kinematic constraint conditions to perform complete digging and swinging cycles.The model also uses three inputs of hoist and drag ropes linear and a rotational displacement of swinging along their trajectories.The inverse kinematics is resolved using a feedforward displacement algorithm coupled with the Newton-Raphson method to accurately estimate the trajectories of the ropes.The trajectories are solved only during the digging phase and the singularity was eliminated using Baumgarte's stabilization technique(BST),with appropriate inequality constraint equations.It is shown that the feedforward displacement algorithm can produce accurate trajectories without the need to manually solve the inverse kinematics from the geometry.The research findings are well in agreement with the dragline real operational limits and they contribute to the efficiency and the reduction in machine downtime due to better control strategies of the dragline cycles.展开更多
ZrO2 ceramic was made from evenly dispersed ( Y, Ce)-ZrO2 powder with different compositions , which was prepared by the chemical coprecipitation, and stabilized by compound additions through appropriate techniques. A...ZrO2 ceramic was made from evenly dispersed ( Y, Ce)-ZrO2 powder with different compositions , which was prepared by the chemical coprecipitation, and stabilized by compound additions through appropriate techniques. And its mechanical property that is related to the phase content and its microstructwe was studied by X-ray diffraction(XRD) , scan electron microscope( SEM). The results show that Y2O3 has stronger inhibition to the growth of ZrO2 crystal than CeO2 has. Therefore, within an appropriate composition range of Y2 O3 and CeO2, the higher the content of Y2O3, the lower the content of CeO2 , the smaller ZrO2 crystal. Combining this feature and the stabilization technique with complex additions instead of simple addition, ZrO2 ceramic with high density and excellent mechanical properties can be made under normal conditions. It is concluded that the improvement of mechanical properties originates from the toughening of microcrack, phase transformation and the effect of grain e-vulsions.展开更多
The output feedback model predictive control(MPC),for a linear parameter varying(LPV) process system including unmeasurable model parameters and disturbance(all lying in known polytopes),is considered.Some previously ...The output feedback model predictive control(MPC),for a linear parameter varying(LPV) process system including unmeasurable model parameters and disturbance(all lying in known polytopes),is considered.Some previously developed tools,including the norm-bounding technique for relaxing the disturbance-related constraint handling,the dynamic output feedback law,the notion of quadratic boundedness for specifying the closed-loop stability,and the ellipsoidal state estimation error bound for guaranteeing the recursive feasibility,are merged in the control design.Some previous approaches are shown to be the special cases.An example of continuous stirred tank reactor(CSTR) is given to show the effectiveness of the proposed approaches.展开更多
Heat treatment with the presence of hydrogen (H2) that react with GeE' centers (Ge≡) at high temperature will weaken the refractive index modulation of grating fabricated in hydrogen-loaded normal germanosilicate...Heat treatment with the presence of hydrogen (H2) that react with GeE' centers (Ge≡) at high temperature will weaken the refractive index modulation of grating fabricated in hydrogen-loaded normal germanosilicate fiber. Pre-annealing treatment of the above fiber was demonstrated to be able to enhance the grating's thermal stability effectively. 0.37-nm blue-shift of the reflected Bragg wavelength was observed.展开更多
基金The funding from the Robert H.Quenon Endowment at Missouri S&T for this research is also greatly acknowledged.
文摘Dragline excavators are closed-loop mining manipulators that operate using a rigid multilink framework and rope and rigging system,which constitute its front-end assembly.The arrangements of dragline front-end assembly provide the necessary motion of the dragline bucket within its operating radius.The assembly resembles a five-link closed kinematic chain that has two independent generalized coordinates of drag and hoist ropes and one dependent generalized coordinate of dump rope.Previous models failed to represent the actual closed loop of dragline front-end assembly,nor did they describe the maneuverability of dragline ropes under imposed geometric constraints.Therefore,a three degrees of freedom kinematic model of the dragline front-end is developed using the concept of generalized speeds.It contains all relevant configuration and kinematic constraint conditions to perform complete digging and swinging cycles.The model also uses three inputs of hoist and drag ropes linear and a rotational displacement of swinging along their trajectories.The inverse kinematics is resolved using a feedforward displacement algorithm coupled with the Newton-Raphson method to accurately estimate the trajectories of the ropes.The trajectories are solved only during the digging phase and the singularity was eliminated using Baumgarte's stabilization technique(BST),with appropriate inequality constraint equations.It is shown that the feedforward displacement algorithm can produce accurate trajectories without the need to manually solve the inverse kinematics from the geometry.The research findings are well in agreement with the dragline real operational limits and they contribute to the efficiency and the reduction in machine downtime due to better control strategies of the dragline cycles.
文摘ZrO2 ceramic was made from evenly dispersed ( Y, Ce)-ZrO2 powder with different compositions , which was prepared by the chemical coprecipitation, and stabilized by compound additions through appropriate techniques. And its mechanical property that is related to the phase content and its microstructwe was studied by X-ray diffraction(XRD) , scan electron microscope( SEM). The results show that Y2O3 has stronger inhibition to the growth of ZrO2 crystal than CeO2 has. Therefore, within an appropriate composition range of Y2 O3 and CeO2, the higher the content of Y2O3, the lower the content of CeO2 , the smaller ZrO2 crystal. Combining this feature and the stabilization technique with complex additions instead of simple addition, ZrO2 ceramic with high density and excellent mechanical properties can be made under normal conditions. It is concluded that the improvement of mechanical properties originates from the toughening of microcrack, phase transformation and the effect of grain e-vulsions.
基金Supported by the National High Technology Research and Development Program of China(2014AA041802)the National Natural Science Foundation of China(61573269)
文摘The output feedback model predictive control(MPC),for a linear parameter varying(LPV) process system including unmeasurable model parameters and disturbance(all lying in known polytopes),is considered.Some previously developed tools,including the norm-bounding technique for relaxing the disturbance-related constraint handling,the dynamic output feedback law,the notion of quadratic boundedness for specifying the closed-loop stability,and the ellipsoidal state estimation error bound for guaranteeing the recursive feasibility,are merged in the control design.Some previous approaches are shown to be the special cases.An example of continuous stirred tank reactor(CSTR) is given to show the effectiveness of the proposed approaches.
基金This work was Jointly supported by the Combined Research Foundation, the National Natural Science Foundation of China, the Energy Conservation Investment Corporation of China (60177029), the Science Fund for Distinguished Young Scholars of Heilongjiang P
文摘Heat treatment with the presence of hydrogen (H2) that react with GeE' centers (Ge≡) at high temperature will weaken the refractive index modulation of grating fabricated in hydrogen-loaded normal germanosilicate fiber. Pre-annealing treatment of the above fiber was demonstrated to be able to enhance the grating's thermal stability effectively. 0.37-nm blue-shift of the reflected Bragg wavelength was observed.
