High-speed pick-and-place parallel robot is a system where the inertia imposed on the motor shafts is real-time changing with the system configurations.High quality of computer control with proper controller parameter...High-speed pick-and-place parallel robot is a system where the inertia imposed on the motor shafts is real-time changing with the system configurations.High quality of computer control with proper controller parameters is conducive to overcoming this problem and has a significant effect on reducing the robot＇s tracking error.By taking Delta robot as an example,a method for parameter tuning of the fixed gain motion controller is presented.Having identifying the parameters of the servo system in the frequency domain by the sinusoidal excitation,the PD＋feedforward control strategy is proposed to adapt to the varying inertia loads,allowing the controller parameters to be tuned by minimizing the mean square tracking error along a typical trajectory.A set of optimum parameters is obtained through computer simulations and the effectiveness of the proposed approach is validated by experiments on a real prototype machine.Let the traveling plate undergoes a specific trajectory and the results show that the tracking error can be reduced by at least 50%in comparison with the conventional auto-tuning and Z-N methods.The proposed approach is a whole workspace optimization and can be applied to the parameter tuning of fixed gain motion controllers.展开更多
Aeromagnetic interference could not be compensated effectively if the precision of parameters which are solved by the aircraft magnetic field model is low. In order to improve the compensation effect under this condit...Aeromagnetic interference could not be compensated effectively if the precision of parameters which are solved by the aircraft magnetic field model is low. In order to improve the compensation effect under this condition, a method based on small signal model and least mean square（LMS） algorithm is proposed. According to the method, the initial values of adaptive filter＇s weight vector are calculated with the solved model parameters through small signal model at first,then the small amount of direction cosine and its derivative are set as the input of the filter, and the small amount of the interference is set as the filter＇s expected vector. After that, the aircraft magnetic interference is compensated by LMS algorithm. Finally, the method is verified by simulation and experiment. The result shows that the compensation effect can be improved obviously by the LMS algorithm when original solved parameters have low precision. The method can further improve the compensation effect even if the solved parameters have high precision.展开更多
Drill machines used in surface mines, particularly in coal, is characterized by a very poor utilization （around 40%） and low availability （around 60%）. The main purpose of this study is to develop a drill selec- t...Drill machines used in surface mines, particularly in coal, is characterized by a very poor utilization （around 40%） and low availability （around 60%）. The main purpose of this study is to develop a drill selec- tion methodology and simultaneously a performance evaluation technique based on drill cuttings produced and drilling rate achieved. In all 28 blast drilled through were investigated. The drilling was accomplished by 5 different drill machines of Ingersoll-Rand and Revathi working in coal mines of Sonepur Bazari （SECL） and Block-II （BCCL）. The drills are Rotary and Rotary Percussive type using tri- cone rock roller bits. Drill cuttings were collected and sieve analysis was done in the laboratory. Using Rosin Ramler Diagram, coarseness index （CI）, mean chip size （d）, specific-st trace area （SSA） and charac- teristic particle size distribution curves for all the holes drilled were plotted. The predictor equation for drill penetration rate established through multiple regressions was found to have a very good correlation with an index of determination of 0.85. A comparative analysis of particle size distribution curves was used to evaluate the drill efficiency. The suggested approach utilises the area under the curve, after the point of trend reversal and brittleness ratio of the respective bench to arrive at drill energy utilization index （DEUI）, for mapping of drill machine to bench, The developed DEU1 can aid in selecting or mapping a right machine to right bench for achieving higher penetration rate and utilizations.展开更多
Climate change and variability have been inducing a broad spectrum of impacts on the environment and natural resources including groundwater resources. The study aimed at assessing the influence of weather, climate va...Climate change and variability have been inducing a broad spectrum of impacts on the environment and natural resources including groundwater resources. The study aimed at assessing the influence of weather, climate variability, and changes on the quality of groundwater resources in Zanzibar. The study used the climate datasets including rainfall (RF), Maximum and Minimum Temperature (T<sub>max</sub> and T<sub>min</sub>), the records acquired from Tanzania Meteorological Authority (TMA) Zanzibar office for 30 (1989-2019) and 10 (2010-2019) years periods. Also, the Zanzibar Water Authority (ZAWA) monthly records of Total Dissolved Solids (TDS), Electrical Conductivity (EC), and Ground Water Temperature (GWT) were used. Interpolation techniques were used for controlling outliers and missing datasets. Indeed, correlation, trend, and time series analyses were used to show the relationship between climate and water quality parameters. However, simple statistical analyses including mean, percentage changes, and contributions to the annual and seasonal mean were calculated. Moreover, t and paired t-tests were used to show the significant changes in the mean of the variables for two defined periods of 2011-2015 and 2016-2020 at p ≤ 0.05. Results revealed that seasonal variability of groundwater quality from March to May (MAM) has shown a significant change in trends ranging from 0.1 to 2.8 mm/L/yr, 0.1 to 2.8 μS/cm/yr, and 0.1 to 2.0℃/yr for TDS, EC, and GWT, respectively. The changes in climate parameters were 0.1 to 2.4 mm/yr, 0.2 to 1.3℃/yr and 0.1 to 2.5℃/yr in RF, T<sub>max</sub>, and T<sub>min</sub>, respectively. From October to December (OND) changes in groundwater parameters ranged from 0.2 to 2.5 mm/L/yr 0.1 to 2.9 μS/cm/yr, and 0.1 to 2.1℃/yr for TDS, EC, and GWT, whereas RF, T<sub>max</sub>, and T<sub>min</sub> changed from 0.3 to 1.8 mm/yr, 0.2 to 1.9℃/yr and 0.2 to 2.0℃/yr, respectively. Moreover, the study has shown strong correlations between climate and water quality parameters in MAM and OND. Besides, the paired correlation has shown significant changes in all parameters except the rainfall. Conclusively, the study has shown a strong influence of climate variability on the quality of groundwater in Zanzibar, and calls for more studies to extrapolate these results throughout Tanzania.展开更多
基金Supported by National Natural Science Foundation of China(Grant Nos.51305293,51135008)
文摘High-speed pick-and-place parallel robot is a system where the inertia imposed on the motor shafts is real-time changing with the system configurations.High quality of computer control with proper controller parameters is conducive to overcoming this problem and has a significant effect on reducing the robot＇s tracking error.By taking Delta robot as an example,a method for parameter tuning of the fixed gain motion controller is presented.Having identifying the parameters of the servo system in the frequency domain by the sinusoidal excitation,the PD＋feedforward control strategy is proposed to adapt to the varying inertia loads,allowing the controller parameters to be tuned by minimizing the mean square tracking error along a typical trajectory.A set of optimum parameters is obtained through computer simulations and the effectiveness of the proposed approach is validated by experiments on a real prototype machine.Let the traveling plate undergoes a specific trajectory and the results show that the tracking error can be reduced by at least 50%in comparison with the conventional auto-tuning and Z-N methods.The proposed approach is a whole workspace optimization and can be applied to the parameter tuning of fixed gain motion controllers.
基金co-supported by the National Basic Research Program of China (No. 623125020103)
文摘Aeromagnetic interference could not be compensated effectively if the precision of parameters which are solved by the aircraft magnetic field model is low. In order to improve the compensation effect under this condition, a method based on small signal model and least mean square（LMS） algorithm is proposed. According to the method, the initial values of adaptive filter＇s weight vector are calculated with the solved model parameters through small signal model at first,then the small amount of direction cosine and its derivative are set as the input of the filter, and the small amount of the interference is set as the filter＇s expected vector. After that, the aircraft magnetic interference is compensated by LMS algorithm. Finally, the method is verified by simulation and experiment. The result shows that the compensation effect can be improved obviously by the LMS algorithm when original solved parameters have low precision. The method can further improve the compensation effect even if the solved parameters have high precision.
文摘Drill machines used in surface mines, particularly in coal, is characterized by a very poor utilization （around 40%） and low availability （around 60%）. The main purpose of this study is to develop a drill selec- tion methodology and simultaneously a performance evaluation technique based on drill cuttings produced and drilling rate achieved. In all 28 blast drilled through were investigated. The drilling was accomplished by 5 different drill machines of Ingersoll-Rand and Revathi working in coal mines of Sonepur Bazari （SECL） and Block-II （BCCL）. The drills are Rotary and Rotary Percussive type using tri- cone rock roller bits. Drill cuttings were collected and sieve analysis was done in the laboratory. Using Rosin Ramler Diagram, coarseness index （CI）, mean chip size （d）, specific-st trace area （SSA） and charac- teristic particle size distribution curves for all the holes drilled were plotted. The predictor equation for drill penetration rate established through multiple regressions was found to have a very good correlation with an index of determination of 0.85. A comparative analysis of particle size distribution curves was used to evaluate the drill efficiency. The suggested approach utilises the area under the curve, after the point of trend reversal and brittleness ratio of the respective bench to arrive at drill energy utilization index （DEUI）, for mapping of drill machine to bench, The developed DEU1 can aid in selecting or mapping a right machine to right bench for achieving higher penetration rate and utilizations.
文摘Climate change and variability have been inducing a broad spectrum of impacts on the environment and natural resources including groundwater resources. The study aimed at assessing the influence of weather, climate variability, and changes on the quality of groundwater resources in Zanzibar. The study used the climate datasets including rainfall (RF), Maximum and Minimum Temperature (T<sub>max</sub> and T<sub>min</sub>), the records acquired from Tanzania Meteorological Authority (TMA) Zanzibar office for 30 (1989-2019) and 10 (2010-2019) years periods. Also, the Zanzibar Water Authority (ZAWA) monthly records of Total Dissolved Solids (TDS), Electrical Conductivity (EC), and Ground Water Temperature (GWT) were used. Interpolation techniques were used for controlling outliers and missing datasets. Indeed, correlation, trend, and time series analyses were used to show the relationship between climate and water quality parameters. However, simple statistical analyses including mean, percentage changes, and contributions to the annual and seasonal mean were calculated. Moreover, t and paired t-tests were used to show the significant changes in the mean of the variables for two defined periods of 2011-2015 and 2016-2020 at p ≤ 0.05. Results revealed that seasonal variability of groundwater quality from March to May (MAM) has shown a significant change in trends ranging from 0.1 to 2.8 mm/L/yr, 0.1 to 2.8 μS/cm/yr, and 0.1 to 2.0℃/yr for TDS, EC, and GWT, respectively. The changes in climate parameters were 0.1 to 2.4 mm/yr, 0.2 to 1.3℃/yr and 0.1 to 2.5℃/yr in RF, T<sub>max</sub>, and T<sub>min</sub>, respectively. From October to December (OND) changes in groundwater parameters ranged from 0.2 to 2.5 mm/L/yr 0.1 to 2.9 μS/cm/yr, and 0.1 to 2.1℃/yr for TDS, EC, and GWT, whereas RF, T<sub>max</sub>, and T<sub>min</sub> changed from 0.3 to 1.8 mm/yr, 0.2 to 1.9℃/yr and 0.2 to 2.0℃/yr, respectively. Moreover, the study has shown strong correlations between climate and water quality parameters in MAM and OND. Besides, the paired correlation has shown significant changes in all parameters except the rainfall. Conclusively, the study has shown a strong influence of climate variability on the quality of groundwater in Zanzibar, and calls for more studies to extrapolate these results throughout Tanzania.
