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3-RPS并联机器人静力学研究及SimMechanics仿真 被引量:10
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作者 于凌涛 张楠 +3 位作者 张立勋 王道明 杨硕 于鹏 《哈尔滨工程大学学报》 EI CAS CSCD 北大核心 2010年第8期1061-1064,1066,共5页
针对传统的建模方法忽略连杆自身重力并具有较大误差这一问题,对单个杆件在铰链约束及重力作用下的受力情况进行分析,推导出机器人处于任意位姿时连杆受力与动平台负载力(矩)二者的关系,从而建立了3-RPS并联机器人完整的静力学模型.利用... 针对传统的建模方法忽略连杆自身重力并具有较大误差这一问题,对单个杆件在铰链约束及重力作用下的受力情况进行分析,推导出机器人处于任意位姿时连杆受力与动平台负载力(矩)二者的关系,从而建立了3-RPS并联机器人完整的静力学模型.利用Matlab的SimMechanics和Simulink模块库构造出该3-RPS并联机器人的仿真模型,对该模型进行受力仿真,验证了静力学模型的正确性.该研究同样适用于其他种类的3自由度并联机器人. 展开更多
关键词 3-rps 并联机器人 静力学 Simmechanics仿真
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基于扩张状态观测器的3-RPS并联机器人固定时间滑模控制 被引量:1
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作者 米钇朴 李壮举 +1 位作者 赵伟 曹少中 《机电工程》 北大核心 2025年第11期2189-2200,共12页
针对3-RPS并联机器人这类复杂的非惯性系多刚体系统在控制中的干扰不确定性和快速性等问题,提出了一种基于扩张状态观测器(ESO)的固定时间收敛滑模控制(FTSMC)方法。首先,对3-RPS并联机器人进行了机构分析并建立了动力学方程,为后续控... 针对3-RPS并联机器人这类复杂的非惯性系多刚体系统在控制中的干扰不确定性和快速性等问题,提出了一种基于扩张状态观测器(ESO)的固定时间收敛滑模控制(FTSMC)方法。首先,对3-RPS并联机器人进行了机构分析并建立了动力学方程,为后续控制器的设计提供了理论基础;然后,设计了一种能够实现误差固定时间收敛的固定时间滑模控制器,同时将系统的不确定项、干扰以及建模误差等影响因素统一归结为扩张状态,设计了扩张状态观测器(ESO),对其进行了估计,在滑模控制器的基础上进行了补偿,削减了控制信号中的抖振现象,进一步增强了系统在复杂环境下的抗干扰能力;最后,将ESO+FTSMC与PID控制器、滑模控制器(SMC)和非奇异终端滑模控制器(NTSMC)进行了对比仿真和实验,验证了基于扩张状态观测器(ESO)的固定时间滑模控制器的有效性。研究结果表明:基于扩张状态观测器(ESO)的固定时间收敛滑模控制器具有更好的快速性和更强的鲁棒性,可以在不同的初始状态下在固定时间内收敛到平衡点,具有固定时间收敛特性;在受到相同负载扰动时,较其他三种控制器,该方法扰动抑制能力分别提升了9%~27%,回稳时间提升了5.3%~11.3%。该方法具有较快的收敛速度,在面对外部干扰和系统不确定性时具有较强的鲁棒性,具有良好的工作性能,对3-RPS并联机器人在恶劣环境下的应用具有一定的参考价值。 展开更多
关键词 并联机构 3-rps并联机器人 扩张状态观测器 固定时间收敛滑模控制 控制稳定性 收敛特性
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Flotation behavior and adsorption mechanism of 2-hydroxy-3-naphthyl hydroxamic acid on bastnaesite surface 被引量:1
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作者 Zhenyue Zhang Ling Jiang +3 位作者 Wenda Guo Jing Yang Defeng Liu Ru'an Chi 《Journal of Rare Earths》 2025年第5期1084-1090,共7页
In order to reveal the effect of 2-hydroxy-3-naphthyl hydroxamic acid(H205)on the flotation behavior and action mechanism of bastnaesite,single-mineral flotation experiments of bastnaesite were conducted.The flotation... In order to reveal the effect of 2-hydroxy-3-naphthyl hydroxamic acid(H205)on the flotation behavior and action mechanism of bastnaesite,single-mineral flotation experiments of bastnaesite were conducted.The flotation recovery of bastnaesites can be achieved more than 90%when the aeration rate is 40 mL/min,the rotational speed is 200 r/min,the H205 dosage is 120 mg/L,and the pulp pH ranges from 7 to 9.The action mechanism of H205 on the surface of bastnaesite was studied by simultaneous thermogravimetry and differential scanning calorimetry(TG-DSC),Zeta potential measurements,Fourier transform-infrared spectra(FT-IR)and X-ray photoelectron spectroscopy(XPS).These analysis results show that under suitable flotation conditions,H205 has an obvious adsorption phenomenon on the surface of bastnaesite.The adsorption involves electrostatic interactions and chemical interactions,namely H205 has a strong collecting ability of bastnaesite due to the synergism of electrostatic adsorption and chemical adsorption.This study systematically reveals the flotation behavior and adsorption mechanism of H205 on the surface of bastnaesite,and provides useful theoretical guidance for efficient flotation separation of bastnaesite. 展开更多
关键词 BASTNAESITE Flotation behavior 2-Hydroxy-3-naphthyl hydroxamic acid Adsorption mechanism Rare earths
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MXene‑Ti_(3)C_(2)T_(x)‑Based Neuromorphic Computing:Physical Mechanisms,Performance Enhancement,and Cutting‑Edge Computing 被引量:1
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作者 Kaiyang Wang Shuhui Ren +3 位作者 Yunfang Jia Xiaobing Yan Lizhen Wang Yubo Fan 《Nano-Micro Letters》 2025年第11期251-302,共52页
Neuromorphic devices have shown great potential in simulating the function of biological neurons due to their efficient parallel information processing and low energy consumption.MXene-Ti_(3)C_(2)T_(x),an emerging two... Neuromorphic devices have shown great potential in simulating the function of biological neurons due to their efficient parallel information processing and low energy consumption.MXene-Ti_(3)C_(2)T_(x),an emerging twodimensional material,stands out as an ideal candidate for fabricating neuromorphic devices.Its exceptional electrical performance and robust mechanical properties make it an ideal choice for this purpose.This review aims to uncover the advantages and properties of MXene-Ti_(3)C_(2)T_(x)in neuromorphic devices and to promote its further development.Firstly,we categorize several core physical mechanisms present in MXene-Ti_(3)C_(2)T_(x)neuromorphic devices and summarize in detail the reasons for their formation.Then,this work systematically summarizes and classifies advanced techniques for the three main optimization pathways of MXene-Ti_(3)C_(2)T_(x),such as doping engineering,interface engineering,and structural engineering.Significantly,this work highlights innovative applications of MXene-Ti_(3)C_(2)T_(x)neuromorphic devices in cutting-edge computing paradigms,particularly near-sensor computing and in-sensor computing.Finally,this review carefully compiles a table that integrates almost all research results involving MXene-Ti_(3)C_(2)T_(x)neuromorphic devices and discusses the challenges,development prospects,and feasibility of MXene-Ti_(3)C_(2)T_(x)-based neuromorphic devices in practical applications,aiming to lay a solid theoretical foundation and provide technical support for further exploration and application of MXene-Ti_(3)C_(2)T_(x)in the field of neuromorphic devices. 展开更多
关键词 Neuromorphic device MXene-Ti_(3)C_(2)T_(x) Physical mechanisms Performance improvement Cutting-edge computing
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Microstructure evolution and strengthening mechanism of electron beam welded dual-phase Mg-8Li-3Al-2Zn-0.5Y alloy
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作者 Lingfan Yi Jiaxin Yu +9 位作者 Lianmei Wu Yangyang Xu Yuchuan Huang Peng Sun Qi Li Wenxia Hu Fei Li Yuyan Tang Guohua Wu Wencai Liu 《Journal of Magnesium and Alloys》 2025年第11期5404-5420,共17页
Nearly undamaged joints of electron beam welded(EBW)dual-phase Mg-8Li-3Al-2Zn-0.5Y alloy were achieved with joint coefficients exceeding 95%.All specimens were fractured at the base metal(BM),implying a significant de... Nearly undamaged joints of electron beam welded(EBW)dual-phase Mg-8Li-3Al-2Zn-0.5Y alloy were achieved with joint coefficients exceeding 95%.All specimens were fractured at the base metal(BM),implying a significant departure from conventional fracture modes of welded joints.The fusion zone(FZ)consists of ultrafine acicular α-Mg and equiaxed β-Li,with grain sizes reduced by approximately 90% and 80%,respectively,compared to the base metal.This results in a significant increase in microhardness of about 40%.A unique multiphase mixture was observed in the heat-affected zone(HAZ),which mainly consists of lamellar eutectoid structures,fine precipitates zone,and numerous fine Mg_(3)(Al,Zn)particles.This mixture was transformed from typical Li(Al,Zn)(a common softening phase)undergoing atomic diffusion and solid-state phase transformation during welding.It introduces a synergistic strengthening effect,making the heat-affected zone no longer the weakest part of the joint.This study provides valuable insights into the electron beam welding technology for Mg-Li alloys and offers theoretical support for manufacturing high-quality joints. 展开更多
关键词 Electron beam welding Mg-8Li-3Al-2Zn-0.5Y Microstructure evolution mechanical properties Strengthening mechanism
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Unraveling post-growth mechanisms of monolayer CsPbBr3 nanocubes:Laser-enhanced transformations and cathodoluminescence-electron microscopy correlations
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作者 Mingxing Li Xiaoge Wang +5 位作者 Xiaofan Cao Zhiqun He Chunjun Liang Mingxing Chen Jing Ju Fangtian You 《Journal of Energy Chemistry》 2025年第1期146-156,共11页
Lead-halide perovskite nanoparticles(LHP NPs) are highly promising materials for next-generation displays and solid-state lighting due to their exceptional optical properties. However, their inherent instability prese... Lead-halide perovskite nanoparticles(LHP NPs) are highly promising materials for next-generation displays and solid-state lighting due to their exceptional optical properties. However, their inherent instability presents a significant challenge. Recent advances have demonstrated that optoelectronic devices based on monolayer nanoparticle films exhibit both high luminescence efficiency and long-term stability.Our research demonstrates that mobility limitations and anisotropic alignments in CsPbBr3nanocube monolayer films are key to their stabilization, hindering spontaneous growth through face-to-face fusion and resulting in the formation of connecting necks in a diagonal direction. Introducing laser irradiation confirmed this by significantly accelerating nanocubes growth, increasing mobility, and enhancing local structural ordering, leading to larger and more regularly shaped nanosheets. Fourier transform infrared spectroscopy and energy dispersive spectroscopy line-scan analyses indicated that laser irradiation did not disrupt the ligand structure. Transmission electron microscopy and correlative cathodoluminescence electron microscopy revealed the effects of post-growth and heterogeneous structures, including enhanced luminescence and inhomogeneous intensity in the nanosheets. These findings deepen the understanding of the post-growth mechanism of monolayer nanoparticles and the structure-emission correlation and highlight the unique role of laser irradiation in directing the formation of well-defined and regular nanostructures. 展开更多
关键词 CsPbBr3 nanocubes Post-growth mechanism Heterogeneous structure Single-particle spectroscopy Laser irradiation
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Dissociation Mechanism of Inactive NLRP3 Assembly Revealed by Protein-Protein Binding Free-Energy Calculations
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作者 Haochen Xu SALBA +1 位作者 Zhonghuai Hou Jie-Lou Liao 《Chinese Journal of Chemical Physics》 2025年第3期356-367,I0109,共13页
Nucleotide binding domain,leucine-rich repeat,and pyrin domain-containing 3(NLRP3)is an NLR-protein family member that can be activated by diverse exogenous and endogenous stimuli but without direct binding of any of ... Nucleotide binding domain,leucine-rich repeat,and pyrin domain-containing 3(NLRP3)is an NLR-protein family member that can be activated by diverse exogenous and endogenous stimuli but without direct binding of any of these pathogen ligands.Biological studies show that inactive NLRP3 is usually in an as-sembly state and its activation requires a kinase protein,NEK7.However,our re-cent computational studies as well as other biological investigations have demonstrated that NEK7 does not play a significant role in the activation of NLRP3 assembly and activation.In-stead,biological studies suggest that NEK7 is essential in the dissociation of inactive NLRP3 assemblies.Despite extensive research,the dissociation mechanism of the inactive NLRP3 as-sembly remains largely elusive.In this work,an improved MM-PBSA method is applied to the protein-protein binding free energies in the inactive NLRP3 decamer.Combined with the po-tential mean force(PMF)computation for the 0°→5°conformational change,the standard free-energy change,ΔG^(0)is calculated for NEK7-driven association of the inactive NLRP3 de-camer.Our calculations show that in the absence of NEK7,the dissociation of the inactive NLRP3 decamer is an energetically unfavorable process(ΔG^(0)=99.69 kcal/mol),whereas upon NEK7 binding,the overall standard free energy differenceΔG^(0)=-24.21 kcal/mol is obtained for the inactive NLRP3 decamer dissociation.The free-energy difference calcula-tions in this work also disclose an energetically optimized dissociation pathway,along which the inactive NLRP3 decamer is disunited by a one-by-one dissociation mechanism. 展开更多
关键词 NLRP3 Dissociation mechanism Improved MM-PBSA Protein-protein bind-ing free energy
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Evolution and triggering mechanism of fault-slip rockbursts in deep tunnels:Insights from 3D printed large-scale physical models
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作者 Shi-Ming Mei Xia-Ting Feng +3 位作者 Zheng-Wei Li Ben-Guo He Cheng-Xiang Yang Wei Zhang 《Journal of Rock Mechanics and Geotechnical Engineering》 2025年第11期6821-6836,共16页
The excavation of deep tunnels crossing faults is highly prone to triggering rockburst disasters,which has become a significant engineering issue.In this study,taking the fault-slip rockbursts from a deep tunnel in so... The excavation of deep tunnels crossing faults is highly prone to triggering rockburst disasters,which has become a significant engineering issue.In this study,taking the fault-slip rockbursts from a deep tunnel in southwestern China as the engineering prototype,large-scale three-dimensional(3D)physical model tests were conducted on a 3D-printed complex geological model containing two faults.Based on the selfdeveloped 3D loading system and excavation device,the macroscopic failure of fault-slip rockbursts was simulated indoors.The stress,strain,and fracturing characteristics of the surrounding rock near the two faults were systematically evaluated during excavation and multistage loading.The test results effectively revealed the evolution and triggering mechanism of fault-slip rockbursts.After the excavation of a highstress tunnel,stress readjustment occurred.Owing to the presence of these two faults,stress continued to accumulate in the rock mass between them,leading to the accumulation of fractures.When the shear stress on a fault surface exceeded its shear strength,sudden fault slip and dislocation occurred,thus triggering rockbursts.Rockbursts occurred twice in the vault between the two faults,showing obvious intermittent characteristics.The rockburst pit was controlled by two faults.When the faults remained stable,tensile failure predominated in the surrounding rock.However,when the fault slip was triggered,shear failure in the surrounding rock increased.These findings provide valuable insights for enhancing the comprehension of fault-slip rockbursts. 展开更多
关键词 Fault-slip rockbursts Evolution mechanism 3D printing Large-scale physical model test Deep tunnel
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Denitration mechanism of iron-vanadium/activated carbon catalyst in medium and low temperature NH_(3)-selective catalytic reduction
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作者 Bang-fu Huang Zhe Shi Lin-jing Yang 《Journal of Iron and Steel Research International》 2025年第11期3752-3766,共15页
To explore the denitration mechanism of iron-vanadium/activated carbon(Fe-V/AC)catalysts in ammonia-selective catalytic reduction(NH_(3)-SCR),the physicochemical properties of Fe-V/AC catalysts were characterized.The ... To explore the denitration mechanism of iron-vanadium/activated carbon(Fe-V/AC)catalysts in ammonia-selective catalytic reduction(NH_(3)-SCR),the physicochemical properties of Fe-V/AC catalysts were characterized.The denitration activities of the Fe-V/AC catalysts in the range of 150-300℃ were evaluated.The increase in denitration temperature leads to the highest and fastest recovery rate of NO conversion in the 10Fe-15V/AC catalyst.However,more metal oxides were attached to the catalyst surface as the V loading increased,and the accumulation occurred.The surface-active components are FeO,Fe_(2)O_(3),Fe_(3)O_(4),VO_(2),and V_(2)O_(5).In addition,the increase in the V loading induced a series of modification effects.A large amount of Fe^(3+)was reduced to Fe^(2+),and a large amount of V^(4+)was oxidized to V^(5+).The surface oxygen species(O_(α))were transformed into lattice oxygen(O_(β)).The presence of a large amount of V species deteriorated the pore-structure parameters and destroyed the oxygen-containing functional groups.Increasing the V loading can effectively increase the Lewis acid sites,thereby promoting NH_(3) adsorption and NO reduction and increasing the stretching vibration of weakly adsorbed ammonia species on the catalyst.The NH_(3) adsorption process produces a notable increase in the concentration of monodentate nitrite(NH_(4)^(+)).The NH_(3)-SCR denitration mechanism of the Fe-V/AC catalyst includes reaction gas adsorption,catalytic denitration of metal active components,and gas desorption. 展开更多
关键词 Iron-vanadium/activated carbon catalyst NH_(3)-selective catalytic reduction Denitration activity Physicochemical property mechanism
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Microscopic mechanisms of intrasource micro-migration and enrichment of lacustrine shale oil:A case study of Chang 7_(3)submember of Triassic Yanchang Formation,Ordos Basin,NW China
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作者 WANG Yingzhu HOU Yuting YANG Jijin 《Petroleum Exploration and Development》 2025年第5期1247-1261,共15页
To clarify the mechanism of differential enrichment of intrasource shale oil,taking the third of seventh member of the Triassic Yanchang Formation(Chang 7_(3)submember for short)in the Ordos Basin,NW China as an examp... To clarify the mechanism of differential enrichment of intrasource shale oil,taking the third of seventh member of the Triassic Yanchang Formation(Chang 7_(3)submember for short)in the Ordos Basin,NW China as an example,we integrated high-resolution scanning electron microscopy(SEM),optical microscopy,laser Raman spectroscopy,rock pyrolysis,and organic solvent extraction experiments to identify solid bitumen of varying origins,obtain direct evidence of intrasource micro-migration of shale oil,and establish the coupling between the shale nano/micro-fabric and the oil generation,migration and accumulation.The Chang 7_(3)shale with rich alginite in laminae has the highest hydrocarbon generation potential but a low thermal transformation ratio.Frequent alternations of micron-scale argillaceous-felsic laminae enhance the hydrocarbon expulsion efficiency,yielding consistent aromaticity between in-situ and migrated solid bitumen.Mudstone laminae rich in terrestrial organic matter(OM)and clay minerals exhibit lower hydrocarbon generation threshold but stronger hydrocarbon retention capacity,with a certain amount of light oil/bitumen preserved to differentiate the chemical structure of in-situ versus migrated bitumen.Tuffaceous and sandy laminae contain abundant felsic minerals and migrated bitumen.Tuffaceous laminae develop high-angle microfractures under shale overpressure,facilitating oil charging into rigid mineral intergranular pores of sandy laminae.Fractionation during micro-migration progressively decreases the aromatization of solid bitumen from shale,through tuffaceous and mudstone,to sandy laminae,while increasing light hydrocarbon components and enhancing OM-hosted pore development.The intrasource micro-migration and enrichment of the Chang 7_(3)shale oil result from synergistic organic-inorganic diagenesis,with crude oil component fractionation being a key mechanism for forming sweet spots in laminated shale oil reservoirs. 展开更多
关键词 lacustrine shale oil solid bitumen intrasource micro-migration enrichment mechanism Chang 7_(3) Triassic Yanchang Formation Ordos Basin
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Unravelling the electrochemical evolution mechanism of In_(2)O_(3) anode in long-cycle all-solid-state lithium batteries with sulfide electrolytes
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作者 Wan-Ping Liu Jun Liu +6 位作者 Xue-Lei Li Qing-Wen Li Zhi-Hui Xu Hui-Rong Liu Jia-Feng Cao Aruuhan Bayaguud Hexi Baoyin 《Rare Metals》 2025年第7期4582-4594,共13页
In sulfide-based all-solid-state lithium batteries(ASLBs),the development of high-capacity anode materials with stable interfaces to sulfide solid-state electrolytes(SSEs)is critical.Here,In_(2)O_(3)is explored as an ... In sulfide-based all-solid-state lithium batteries(ASLBs),the development of high-capacity anode materials with stable interfaces to sulfide solid-state electrolytes(SSEs)is critical.Here,In_(2)O_(3)is explored as an anode material for ASLBs for the first time,demonstrating exceptional interfacial stability and electrochemical performance.The In_(2)O_(3)anode,with a substantial mass loading of 7.64 mg cm^(-2),sustains a charge-specific capacity of528.0 mAh g^(-1)(4.03 mAh cm^(-2))at a current density of0.76 mA cm^(-2)over 500 cycles,with a capacity retention of 81.2%.Additionally,it exhibits remarkable long-term cycling stability(2900 cycles)under a high current density of 3.82 mA cm^(-2),with an exceptionally low decay rate of0.016%per cycle.The charge-discharge mechanism of the In_(2)O_(3)anode is elucidated in detail,revealing that the electrochemical evolution of In_(2)O_(3)in ASLBs involves notonly the alloying/dealloying process of indium(In)but also a conversion reaction between In and Li_(2)O.Notably,as cycling progresses,the conversion reaction of In and Li_(2)O diminishes,with the reversible alloy ing/dealloy ing process becoming predominant.This work offers valuable insights for advancing oxide anode materials in sulfide-based ASLBs. 展开更多
关键词 All-solid-state lithium batteries Sulfide solid-state electrolytes In_(2)O_(3)anode Long-term cycling Charge-discharge mechanism
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Enhancing 3D U-Net with Residual and Squeeze-and-Excitation Attention Mechanisms for Improved Brain Tumor Segmentation in Multimodal MRI
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作者 Yao-Tien Chen Nisar Ahmad Khursheed Aurangzeb 《Computer Modeling in Engineering & Sciences》 2025年第7期1197-1224,共28页
Accurate and efficient brain tumor segmentation is essential for early diagnosis,treatment planning,and clinical decision-making.However,the complex structure of brain anatomy and the heterogeneous nature of tumors pr... Accurate and efficient brain tumor segmentation is essential for early diagnosis,treatment planning,and clinical decision-making.However,the complex structure of brain anatomy and the heterogeneous nature of tumors present significant challenges for precise anomaly detection.While U-Net-based architectures have demonstrated strong performance in medical image segmentation,there remains room for improvement in feature extraction and localization accuracy.In this study,we propose a novel hybrid model designed to enhance 3D brain tumor segmentation.The architecture incorporates a 3D ResNet encoder known for mitigating the vanishing gradient problem and a 3D U-Net decoder.Additionally,to enhance the model’s generalization ability,Squeeze and Excitation attention mechanism is integrated.We introduce Gabor filter banks into the encoder to further strengthen the model’s ability to extract robust and transformation-invariant features from the complex and irregular shapes typical in medical imaging.This approach,which is not well explored in current U-Net-based segmentation frameworks,provides a unique advantage by enhancing texture-aware feature representation.Specifically,Gabor filters help extract distinctive low-level texture features,reducing the effects of texture interference and facilitating faster convergence during the early stages of training.Our model achieved Dice scores of 0.881,0.846,and 0.819 for Whole Tumor(WT),Tumor Core(TC),and Enhancing Tumor(ET),respectively,on the BraTS 2020 dataset.Cross-validation on the BraTS 2021 dataset further confirmed the model’s robustness,yielding Dice score values of 0.887 for WT,0.856 for TC,and 0.824 for ET.The proposed model outperforms several state-of-the-art existing models,particularly in accurately identifying small and complex tumor regions.Extensive evaluations suggest integrating advanced preprocessing with an attention-augmented hybrid architecture offers significant potential for reliable and clinically valuable brain tumor segmentation. 展开更多
关键词 3D MRI artificial intelligence deep learning AI in healthcare attention mechanism U-Net medical image analysis brain tumor segmentation BraTS 2021 BraTS 2020
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Utilization of steelwork off-gases through methanol synthesis:Sulfur-induced dynamic migration of ZnO_(x) over industrial Cu/ZnO/Al_(2)O_(3) catalyst and the poisoning mechanism
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作者 Yukun Tian Yu Zeng +5 位作者 Ziyang Chen Hua Tong Ming Chen Zhiyong Zhong Daiqi Ye Limin Chen 《Journal of Environmental Sciences》 2025年第12期659-673,共15页
The reduction of carbon emissions in the steel industry is a significant challenge,and utilizing CO_(2) from carbon intensive steel industry off-gases for methanol production is a promising strategy for decarbonizatio... The reduction of carbon emissions in the steel industry is a significant challenge,and utilizing CO_(2) from carbon intensive steel industry off-gases for methanol production is a promising strategy for decarbonization.However,steelwork off-gases typically contain various impurities,including H_(2)S,which can deactivate commercial methanol synthesis catalysts,Cu/ZnO/Al_(2)O_(3)(CZA).Reverse water-gas shift(RWGS)reaction is the predominant side reaction in CO_(2) hydrogenation to methanol which can occur at ambient pressure,enabling the decouple of RWGS from methanol production at high pressure.Then,a series of activated CZA catalysts has been in-situ pretreated in 400 ppm H_(2)S/Ar at 250℃and tested for both RWGS reaction at ambient pressure and CO_(2) hydrogenation to methanol at high pressure.An innovative decoupling strategy was employed to isolate the RWGS reaction from the methanol synthesis process,enabling the investigation of the evolution of active site structures and the poisoning mechanism through elemental analysis,X-ray Diffraction,X-ray Photoelectron Spectroscopy,Fourier Transform Infrared Spectroscopy,Temperature Programmed Reduction and CO_(2) Temperature Programmed Desorption.The results indicate that there are different dynamic migration behaviors of ZnO_(x) in the two reaction systems,leading to different poisoning mechanisms.These interesting findings are beneficial to develop sulfur resistant and durable highly efficient catalysts for CO_(2) hydrogenation to methanol,promoting the carbon emission reduction in steel industry. 展开更多
关键词 Steelwork off-gases CO_(2)hydrogenation to methanol H_(2)S Cu/Zn O/Al_(2)O_(3)catalysts ZnO_(x)migration Deactivation and promotion mechanisms
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基于牛顿欧拉法的3-RPS并联机构逆动力学分析 被引量:29
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作者 李永刚 宋轶民 +1 位作者 冯志友 张策 《航空学报》 EI CAS CSCD 北大核心 2007年第5期1210-1215,共6页
以3-RPS机构为例,研究了对称少自由度并联机构的逆动力学问题。因其自由度数目小于6,该类机构的支链不仅传递驱动力,同时还需为动平台提供约束。然而,现有文献大多未对广义约束力给予足够的重视。采用牛顿欧拉法建立了3-RPS机构的刚体... 以3-RPS机构为例,研究了对称少自由度并联机构的逆动力学问题。因其自由度数目小于6,该类机构的支链不仅传递驱动力,同时还需为动平台提供约束。然而,现有文献大多未对广义约束力给予足够的重视。采用牛顿欧拉法建立了3-RPS机构的刚体动力学方程,给定动平台的运动规律及外载荷后,可一并求解机构所需的驱动力与约束力矩。算例仿真表明,与动平台自由速度方向不一致的外载荷主要需由约束力矩平衡。因此,在对称少自由度并联机构动力学设计中,必须计入广义约束力的影响。 展开更多
关键词 并联机构 少自南度 3-rps 逆动力学 约束
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3-RPS并联机构运动学标定方法的研究 被引量:11
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作者 高峰 李艳 +2 位作者 黄玉美 杨新刚 蔡晓江 《仪器仪表学报》 EI CAS CSCD 北大核心 2012年第3期568-574,共7页
针对六轴混联机床中因3-RPS并联机构结构参数误差引起的精度问题,分析了影响3-RPS并联机构几何精度的误差因素,给出了并联机构的误差模型;基于影响并联机构定平台运动精度较大的几何误差参数;建立了运动学标定模型。采用阻尼最小二乘法... 针对六轴混联机床中因3-RPS并联机构结构参数误差引起的精度问题,分析了影响3-RPS并联机构几何精度的误差因素,给出了并联机构的误差模型;基于影响并联机构定平台运动精度较大的几何误差参数;建立了运动学标定模型。采用阻尼最小二乘法,经多次优化迭代实现了利用一组测量数据完成非线性超越矛盾标定方程组的求解。利用激光干涉仪完成了标定用数据的测量,通过3-RPS并联机构运动学逆解和各铰链的几何标定参数,得到动平台的实际位姿。通过对标定前后的Z轴定位精度的检测及实际零件加工试验,验证了3-RPS并联机构运动学标定模型和方法的正确性和有效性。 展开更多
关键词 3-rps并联机构 几何误差 标定模型 优化迭代
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飞机装配中基于3-RPS的并联机构法向调整算法 被引量:11
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作者 邹冀华 周万勇 韩先国 《中国机械工程》 EI CAS CSCD 北大核心 2011年第5期557-560,共4页
在飞机壁板柔性装配和钻铆时,采用典型的3-RPS并联机构进行自动调姿,该机构的末端执行器要求钻铆头沿孔位处的蒙皮法向进给。为了解决该法向调整问题,先对3-RPS并联机构动平台位姿进行建模描述,再在此基础上提出法向调整的求解算法。结... 在飞机壁板柔性装配和钻铆时,采用典型的3-RPS并联机构进行自动调姿,该机构的末端执行器要求钻铆头沿孔位处的蒙皮法向进给。为了解决该法向调整问题,先对3-RPS并联机构动平台位姿进行建模描述,再在此基础上提出法向调整的求解算法。结合实例说明了该算法完全具有实际工程应用能力,且该法向调整算法还可以推广应用于定位、调姿等飞机数字化制造及装配工作中。 展开更多
关键词 装配 3-rps并联机构 法向调整 动平台
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3-RPS并联机构运动与静力特性分析 被引量:16
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作者 郑魁敬 崔培 郭海军 《机械设计》 CSCD 北大核心 2011年第9期28-33,共6页
对3-RPS并联机构运动学和静力学特性进行分析,建立该机构位置反解公式和位姿约束方程;对机构速度正反解进行分析,建立速度分量相关性公式;建立该机构静力平衡方程和静力传递矩阵,确定速度映射和力映射对偶关系;推导证明了该机构工作空... 对3-RPS并联机构运动学和静力学特性进行分析,建立该机构位置反解公式和位姿约束方程;对机构速度正反解进行分析,建立速度分量相关性公式;建立该机构静力平衡方程和静力传递矩阵,确定速度映射和力映射对偶关系;推导证明了该机构工作空间的对称性;提出一种检测机构位姿方法,有效解决并联机构位置正解难题;用算例对理论分析正确性进行验证,为该机构优化设计和控制规划奠定理论基础。 展开更多
关键词 3-rps并联机构 运动学 静力学 速度相关性
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一种3-RPS并联平台机构偏转能力的分析 被引量:6
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作者 张立杰 雷超 +1 位作者 郭菲 刘思远 《燕山大学学报》 CAS 2012年第3期196-200,共5页
基于3-RPS并联机构的位置反解,在考虑杆长、运动副转角及杆间干涉等约束的情况下,利用搜索法求得了机构动平台相对于定平台运动的姿态工作空间(即偏转能力),研究了动平台姿态工作空间与垂直于定平台的向移动位置空间的关系,并分析了机... 基于3-RPS并联机构的位置反解,在考虑杆长、运动副转角及杆间干涉等约束的情况下,利用搜索法求得了机构动平台相对于定平台运动的姿态工作空间(即偏转能力),研究了动平台姿态工作空间与垂直于定平台的向移动位置空间的关系,并分析了机构主要结构参数对动平台偏转能力的影响。 展开更多
关键词 3-rps并联机构 偏转能力 工作空间
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3-RPS并联机器人运动可靠性仿真研究 被引量:12
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作者 孙志礼 杨强 +1 位作者 闫明 雷东亮 《机械科学与技术》 CSCD 北大核心 2007年第6期780-783,786,共5页
利用ADAMS 12.0建立多体系统仿真模型:首先在ADAMS/View模块下建立参数化的虚拟样机模型。利用ADAMS软件提供的Point Motion、Measure和Spline等功能,获得机器人位姿正反解。考虑杆长误差和球副位置误差服从正态分布的情况下,利用随机... 利用ADAMS 12.0建立多体系统仿真模型:首先在ADAMS/View模块下建立参数化的虚拟样机模型。利用ADAMS软件提供的Point Motion、Measure和Spline等功能,获得机器人位姿正反解。考虑杆长误差和球副位置误差服从正态分布的情况下,利用随机抽样获得不同模型的实现,通过仿真得到机器人末端执行器的多组运动轨迹,并用文本文件记录相应的数据结果。最后由统计计算得出任意时刻的机器人运动可靠度。该方法不涉及复杂的数学推导,计算精度高,求解周期短,为设计人员提供了一定的参考,适合于工程应用。 展开更多
关键词 3-rps并联机器人 运动可靠性 ADAMS 12.0 MONTE CARLO方法 误差
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基于螺旋理论对3-RPS并联机器人运动学分析及仿真 被引量:11
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作者 朱大昌 严智敏 +1 位作者 崔祥府 李培 《机械科学与技术》 CSCD 北大核心 2013年第1期28-31,共4页
3-RPS型并联机构具有3个结构对称的支链形式,每个支链由一个转动副连接基座,一个球面副与动平台相连接,转动副与球面副由移动副所连接。采用螺旋理论对3-RPS型并联机器人自由度分析,采用反螺旋的方法建立约束雅可比矩阵、运动雅可比矩... 3-RPS型并联机构具有3个结构对称的支链形式,每个支链由一个转动副连接基座,一个球面副与动平台相连接,转动副与球面副由移动副所连接。采用螺旋理论对3-RPS型并联机器人自由度分析,采用反螺旋的方法建立约束雅可比矩阵、运动雅可比矩阵和完整雅可比矩阵,导出了动平台的速度到驱动关节速度之间的映射,从而计算出末端执行器的速度、加速度并进行奇异性分析。基于Matlab SimMechanics软件建立3-RPS型并联机器人仿真模型,进行运动学仿真对比研究,结果表明:动平台的实际输出变化与给定的参考值变化基本相符,验证了该建模方法的正确性。 展开更多
关键词 3-rps型并联机器人 螺旋理论 雅可比矩阵 MATLAB仿真
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