An integrated method for identifying the propagation of multi-loop process oscillations and their source location is proposed in this paper. Oscillatory process loop variables are automatically selected based on the c...An integrated method for identifying the propagation of multi-loop process oscillations and their source location is proposed in this paper. Oscillatory process loop variables are automatically selected based on the component-related ratio index and a mixing matrix, both of which are obtained in data preprocessing by spectral independent component analysis. The complex causality among oscillatory process variables is then revealed by Granger causality test and is visualized in the form of causality diagram. The simplification of causal connectivity in the diagram is performed according to the understanding of process knowledge and the final simplest causality diagram, which represents the main oscillation propagation paths, is achieved by the automated cutting-off thresh-old search, with which less significant causality pathways are filtered out. The source of the oscillation disturbance can be identified intuitively through the final causality diagram. Both simulated and real plant data tests are presented to demonstrate the effectiveness and feasibility of the proposed method.展开更多
In confined spaces,conventional ground mobile robots may be unable to reach the target location because of limited maneuvering space or the inability to overcome obstacles.This study presents a ground mobile mechanism...In confined spaces,conventional ground mobile robots may be unable to reach the target location because of limited maneuvering space or the inability to overcome obstacles.This study presents a ground mobile mechanism with a multi-loop reconfigurable trunk(GMMRT)designed to enhance mobility in constrained spaces,such as narrow gaps,ditches,and cross-shaped channels.GMMRT can effectively overcome obstacles in confined spaces through the coordinated motion of its wheels and reconfigurable trunk.Its reconfigurable trunk comprises six limbs and four vertex platforms,forming a versatile,adaptable structure.GMMRT supports two topological structures:wheeled mobility and overall rolling.It features three distinct motion modes:(i)adjusting external dimensions,(ii)performing zero-radius steering,and(iii)overall deformation rolling motion.The kinematic model of GMMRT is established,and its parameters are described using Denavit–Hartenberg parameters.The degrees of freedom under the two topological structures are analyzed on the basis of screw theory.Torque analysis of servo motors is conducted through dynamic analysis.An experimental prototype is designed to validate the three motion modes and servo motor selection,and relevant experiments are performed.Through the development and experimental validation of GMMRT,this work advances mobile robot design for confined spaces and provides a promising approach to overcome the limitations of conventional ground robots.展开更多
Compared with the parallel mechanisms, the mobility analysis of the general multi-loop spatial mechanisms（GMSMs） is more difficult to obtain correct results. The reason is that its multi-loop is formed through sever...Compared with the parallel mechanisms, the mobility analysis of the general multi-loop spatial mechanisms（GMSMs） is more difficult to obtain correct results. The reason is that its multi-loop is formed through several times of closings and there also exists motion coupling even strong coupling, where the over-constraints are concealed. However, the mobility analysis for this kind of mechanisms has been paid few attentions. A new systemic methodology for analyzing mobility is proposed for GMSMs also based on the screw theory. The key issue for mobility analysis is to recognize the over-constraint. Firstly, three theorems are given and point out： the reason and site of over-constraint occurrence, calculating the number of over-constraints by the screw theory, and how to analyze the over-constraints for a single-loop mechanism as well. Then, three closing forms for GMSMs are proposed including rigid closure, movable closure and dynamic closure, and for the three different forms the different analysis methods are also given. Especially, for the most difficult issue of GMSMs with the multi-loop Closure in many times and the inevitable motion coupling, two important methods are proposed： ＂recognizing over-constraints by analyzing relative movement＂ and ＂recognizing over-constraints by virtual loop＂. The two methods are well used to solve the issue. Above-mentioned principles are not only systematic and effective but also unified. They provide a theoretical basis for the general multi-loop spatial mechanisms.展开更多
The pre-research on mobility analysis presented a unified-mobility formula and a methodology based on reciprocal screw theory by HUANG, which focused on classical and modem parallel mechanisms. However its range of ap...The pre-research on mobility analysis presented a unified-mobility formula and a methodology based on reciprocal screw theory by HUANG, which focused on classical and modem parallel mechanisms. However its range of application needs to further extend to general multi-loop spatial mechanism. This kind of mechanism is not only more complex in structure but also with strong motion coupling among loops, making the mobility analysis even more complicated, and the relevant research has long been ignored. It is focused on how to apply the new principle for general spatial mechanism to those various multi-loop spatial mechanisms, and some new meaningful knowledge is further found. Several typical examples of the genera/multi-loop spatial mechanisms with motion couple even strong motion couple are considered. These spatial mechanisms include different closing way： over-constraint appearing in rigid closure, in movable closure, and in dynamic closure as well; these examples also include two different new methods to solve this kind of issue： the way to recognize over-constraints by analyzing relative movement between two connected links and by constructing a virtual loop to recognize over-constraints. In addition, over-constraint determination tabulation is brought to analyze the motion couple. The researches above are all based upon the screw theory. All these multi-loop spatial mechanisms with different kinds of structures can completely be solved by following the directions and examples, and the new mobility theory based on the screw theory is also proved to be valid. This study not only enriches and develops the theory and makes the theory more universal, but also has a special meaning for innovation in mechanical engineering.展开更多
A detailed characterization of an iron oxy/hydroxide(gossan type) bearing refractory gold/silver ore was performed with a new diagnostic approach for the development of a pretreatment process prior to cyanide leaching...A detailed characterization of an iron oxy/hydroxide(gossan type) bearing refractory gold/silver ore was performed with a new diagnostic approach for the development of a pretreatment process prior to cyanide leaching. Gold was observed to be present as native and electrum(6-24 μm in size) and associated with limonite, goethite and lepidocrocite within calcite and quartz matrix. Mineral liberation analysis(MLA) showed that electrum is found as free grains and in association with beudantite, limonite/goethite and quartz. Silver was mainly present as acanthite(Ag2S) and electrum and as inclusions within beudantite phase in the ore. The cyanide leaching tests showed that the extractions of gold and silver from the ore(d80: 50 μm) were limited to 76% and 23%, respectively, over a leaching period of 24 h. Diagnostic leaching tests coupled with the detailed mineralogical analysis of the ore suggest that the refractory gold and silver are mainly associated within iron oxide mineral phases such as limonite/goethite and jarosite-beudantite, which can be decomposed in alkaline solutions. Based on these characterizations, alkaline pretreatment of ore in potassium hydroxide solution was performed prior to cyanidation, which improved significantly the extraction of silver and gold up to 87% Ag and 90% Au. These findings suggest that alkaline leaching can be used as a new diagnostic approach to characterize the refractoriness of iron oxy/hydroxide bearing gold/silver ore and as a pretreatment method to overcome the refractoriness.展开更多
基金Supported by the National Natural Science Foundation of China （60974061）.
文摘An integrated method for identifying the propagation of multi-loop process oscillations and their source location is proposed in this paper. Oscillatory process loop variables are automatically selected based on the component-related ratio index and a mixing matrix, both of which are obtained in data preprocessing by spectral independent component analysis. The complex causality among oscillatory process variables is then revealed by Granger causality test and is visualized in the form of causality diagram. The simplification of causal connectivity in the diagram is performed according to the understanding of process knowledge and the final simplest causality diagram, which represents the main oscillation propagation paths, is achieved by the automated cutting-off thresh-old search, with which less significant causality pathways are filtered out. The source of the oscillation disturbance can be identified intuitively through the final causality diagram. Both simulated and real plant data tests are presented to demonstrate the effectiveness and feasibility of the proposed method.
基金supported by the Fundamental Research Funds for the Central Universities,China(Grant No.2024JBZX012).
文摘In confined spaces,conventional ground mobile robots may be unable to reach the target location because of limited maneuvering space or the inability to overcome obstacles.This study presents a ground mobile mechanism with a multi-loop reconfigurable trunk(GMMRT)designed to enhance mobility in constrained spaces,such as narrow gaps,ditches,and cross-shaped channels.GMMRT can effectively overcome obstacles in confined spaces through the coordinated motion of its wheels and reconfigurable trunk.Its reconfigurable trunk comprises six limbs and four vertex platforms,forming a versatile,adaptable structure.GMMRT supports two topological structures:wheeled mobility and overall rolling.It features three distinct motion modes:(i)adjusting external dimensions,(ii)performing zero-radius steering,and(iii)overall deformation rolling motion.The kinematic model of GMMRT is established,and its parameters are described using Denavit–Hartenberg parameters.The degrees of freedom under the two topological structures are analyzed on the basis of screw theory.Torque analysis of servo motors is conducted through dynamic analysis.An experimental prototype is designed to validate the three motion modes and servo motor selection,and relevant experiments are performed.Through the development and experimental validation of GMMRT,this work advances mobile robot design for confined spaces and provides a promising approach to overcome the limitations of conventional ground robots.
基金Supported by National Natural Science Foundation of China(Grant No.51005195)Natural Science Research Fund for Youth in Higher Education Institutions of Hebei Province,China(Grant No.QN2014175)
文摘Compared with the parallel mechanisms, the mobility analysis of the general multi-loop spatial mechanisms（GMSMs） is more difficult to obtain correct results. The reason is that its multi-loop is formed through several times of closings and there also exists motion coupling even strong coupling, where the over-constraints are concealed. However, the mobility analysis for this kind of mechanisms has been paid few attentions. A new systemic methodology for analyzing mobility is proposed for GMSMs also based on the screw theory. The key issue for mobility analysis is to recognize the over-constraint. Firstly, three theorems are given and point out： the reason and site of over-constraint occurrence, calculating the number of over-constraints by the screw theory, and how to analyze the over-constraints for a single-loop mechanism as well. Then, three closing forms for GMSMs are proposed including rigid closure, movable closure and dynamic closure, and for the three different forms the different analysis methods are also given. Especially, for the most difficult issue of GMSMs with the multi-loop Closure in many times and the inevitable motion coupling, two important methods are proposed： ＂recognizing over-constraints by analyzing relative movement＂ and ＂recognizing over-constraints by virtual loop＂. The two methods are well used to solve the issue. Above-mentioned principles are not only systematic and effective but also unified. They provide a theoretical basis for the general multi-loop spatial mechanisms.
基金Supported by National Natural Science Foundation of China(Grant No.51005195)Natural Science Research Fund for Youth in Higher Education Institutions of Hebei Province,China(Grant No.QN2014175)
文摘The pre-research on mobility analysis presented a unified-mobility formula and a methodology based on reciprocal screw theory by HUANG, which focused on classical and modem parallel mechanisms. However its range of application needs to further extend to general multi-loop spatial mechanism. This kind of mechanism is not only more complex in structure but also with strong motion coupling among loops, making the mobility analysis even more complicated, and the relevant research has long been ignored. It is focused on how to apply the new principle for general spatial mechanism to those various multi-loop spatial mechanisms, and some new meaningful knowledge is further found. Several typical examples of the genera/multi-loop spatial mechanisms with motion couple even strong motion couple are considered. These spatial mechanisms include different closing way： over-constraint appearing in rigid closure, in movable closure, and in dynamic closure as well; these examples also include two different new methods to solve this kind of issue： the way to recognize over-constraints by analyzing relative movement between two connected links and by constructing a virtual loop to recognize over-constraints. In addition, over-constraint determination tabulation is brought to analyze the motion couple. The researches above are all based upon the screw theory. All these multi-loop spatial mechanisms with different kinds of structures can completely be solved by following the directions and examples, and the new mobility theory based on the screw theory is also proved to be valid. This study not only enriches and develops the theory and makes the theory more universal, but also has a special meaning for innovation in mechanical engineering.
基金Project(8300)supported by the Research Foundation of Karadeniz Technical University,Turkey
文摘A detailed characterization of an iron oxy/hydroxide(gossan type) bearing refractory gold/silver ore was performed with a new diagnostic approach for the development of a pretreatment process prior to cyanide leaching. Gold was observed to be present as native and electrum(6-24 μm in size) and associated with limonite, goethite and lepidocrocite within calcite and quartz matrix. Mineral liberation analysis(MLA) showed that electrum is found as free grains and in association with beudantite, limonite/goethite and quartz. Silver was mainly present as acanthite(Ag2S) and electrum and as inclusions within beudantite phase in the ore. The cyanide leaching tests showed that the extractions of gold and silver from the ore(d80: 50 μm) were limited to 76% and 23%, respectively, over a leaching period of 24 h. Diagnostic leaching tests coupled with the detailed mineralogical analysis of the ore suggest that the refractory gold and silver are mainly associated within iron oxide mineral phases such as limonite/goethite and jarosite-beudantite, which can be decomposed in alkaline solutions. Based on these characterizations, alkaline pretreatment of ore in potassium hydroxide solution was performed prior to cyanidation, which improved significantly the extraction of silver and gold up to 87% Ag and 90% Au. These findings suggest that alkaline leaching can be used as a new diagnostic approach to characterize the refractoriness of iron oxy/hydroxide bearing gold/silver ore and as a pretreatment method to overcome the refractoriness.
