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Tytuł:
Virtual–real fusion maintainability verification based on adaptive weighting and truncated spot method
Autorzy:
Ge, Zhexue
Zhang, Yi
Wang, Fang
Luo, Xu
Yang, Yongmin
Powiązania:
https://bibliotekanauki.pl/articles/2200935.pdf
Data publikacji:
2022
Wydawca:
Polska Akademia Nauk. Polskie Naukowo-Techniczne Towarzystwo Eksploatacyjne PAN
Tematy:
virtual–real fusion maintainability
maintainability verification
adaptive weighting method
truncated SPOT method
Opis:
Maintainability is an important general quality characteristic of products. Insufficient maintainability will lead to long maintenance time and high maintenance cost, thus affecting the availability of products. Maintainability verification is an important means to ensure maintainability meets design requirements. However, the cost of traditional real maintainability verification method is very high, and the virtual maintenance method has insufficient verification accuracy due to the lack of large maintenance force feedback when the human body is moving. In order to reduce the evaluation error and test sample size, the paper conducts maintainability verification based on the mixed physical and virtual maintainability test scenarios. Aiming at the problem that traditional methods are difficult to deal with the real test information and synchronous virtual simulation information in the test process, this study proposes a virtual–real fusion maintainability evaluation algorithm based on adaptive weighting and truncated SPOT (Sequential Posterior Odd Test) method. It can weigh real test information and virtual human simulation information adaptively to obtain a virtual–real fusion maintainability test sample. Then, the SPOT method is used to evaluate the maintainability of small samples. The adjustment of valve clearance, replacement of air filter element and replacement of starting motor maintenance tasks of ship engine are taken as examples for demonstration. The virtual–real fusion and virtual maintainability verification methods are respectively used for verification, and compared with the physical maintenance scenario constructed by 3D printing, indicating that the accuracy of virtual–real fusion maintainability test verification is 89%, while the virtual maintainability verification is only 33%.
Źródło:
Eksploatacja i Niezawodność; 2022, 24, 4; 738--746
1507-2711
Pojawia się w:
Eksploatacja i Niezawodność
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Understanding the collection behavior of gangue minerals in fine flake graphite flotation
Autorzy:
Xu, Wenlu
Sun, Kangkang
Qiu, Yangshuai
Zhang, Lingyan
Yang, Luo
Wei, Shaowei
Ding, Dafa
Powiązania:
https://bibliotekanauki.pl/articles/2146848.pdf
Data publikacji:
2022
Wydawca:
Politechnika Wrocławska. Oficyna Wydawnicza Politechniki Wrocławskiej
Tematy:
flake graphite
mica
quartz
flotation
entrainment
Opis:
Flotation is one of the most common and effective methods for the beneficiation of natural graphite resources. However, the upgrading efficiency of flotation is always finite due to the undesirable collection of gangue minerals. In this work, the collecting mechanism of three typical gangue minerals, including mica, quartz, and feldspar, in fine flake graphite flotation was investigated. Results of batch flotation tests for single-minerals and artificial mixtures confirmed the enhanced collection of gangues in the presence of graphite particles. Contact angle and zeta potential results and theoretical calculations of the interaction between graphite and gangue particles based on typical DLVO theory indicated that it is impossible to collect gangue minerals by true flotation or through heterocoagulation with graphite particles. The fitting results of accumulated gangue recoveries and accumulated water recoveries using the Warren method demonstrated that most gangue minerals entered the concentrate through entrainment, with a small proportion by bubble inclusions.
Źródło:
Physicochemical Problems of Mineral Processing; 2022, 58, 1; 101--112
1643-1049
2084-4735
Pojawia się w:
Physicochemical Problems of Mineral Processing
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
The Comparison Study on AIS Signal Reception Rate with Directional Antenna and Omni Antenna
Autorzy:
Xu, T.
Hu, Q.
Xiang, Z.
Yang, C.
Wang, D.
Powiązania:
https://bibliotekanauki.pl/articles/116436.pdf
Data publikacji:
2016
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
Automatic Identification System (AIS)
AIS Signal
AIS Data
Yagi antenna
Omni antenna
Directional Antenna
reception rate
VHF Technology
Opis:
With the wide use of AIS system in the world, especially in ports and the waters with heavy traffic, AIS message loss may be related to environmental conditions, obstacle, limitation of VHF technology and AIS network overload, thereby reducing the AIS signal successful reception rate. This paper selected typical AIS data received by Yagi and Omni antennas at the same time in specific waters, uses grid and AIS data recovery technology, establishes the AIS signal coverage model, analyzes signal reception rate of Yagi antenna and Omni antenna of AIS base station, and verified the superiority of Yagi antenna in AIS signal reception rate.
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2016, 10, 2; 205-211
2083-6473
2083-6481
Pojawia się w:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Teacher stress among public primary and secondary schoolteachers in Datong, a city of Shanxi Province, China: association between teacher stress and standardized workload
Autorzy:
Zhang, Xiaojuan
Guo, Jungang
Ma, Li
Xu, Ruijun
Wang, Jinfang
Yang, Yonghong
Shen, Hong
Powiązania:
https://bibliotekanauki.pl/articles/2203017.pdf
Data publikacji:
2023-05-23
Wydawca:
Instytut Medycyny Pracy im. prof. dra Jerzego Nofera w Łodzi
Tematy:
stress
occupational health
China
workload
primary and secondary schoolteachers
occupational health strategy
Opis:
Objectives The policy of the standardized workload has been implemented among primary and secondary schoolteachers in Shanxi Province. The aim of this cross-sectional cohort study is to assess teacher stress among primary and secondary schoolteachers in Datong, a city of Shanxi Province and the association between teacher stress and the quantified workload. Material and Methods Three hundred and fifty schoolteachers in 10 public primary schools, 187 schoolteachers in 6 secondary schools and 268 non-teachers in 21 education institutes were recruited. A single-item rating assessment of work-related stress was completed by using the Exposure to Job Stress measure with modification. The quantified workload included class size, teaching hours, and subjects. Descriptive and logistic regression analyses were carried out. Results In 805 participants, the pro- portion of primary and secondary schoolteachers with moderate stress was significantly greater. The results of Spearman’s correlation and logistic regression analyses showed that the occupations of the primary and secondary schoolteachers had higher stress risk. Further, the stratified results showed that among the primary schoolteachers, the independent stress risk factor was larger class size; while among the secondary schoolteachers, the stress associated factor was more weekly teaching hours. Conclusions After standardization of the workload, there remain higher levels of work stress among primary and secondary schoolteachers. Notwithstanding, the stress state in teachers is manageable and they may be faced with controllable stressors.
Źródło:
International Journal of Occupational Medicine and Environmental Health; 2023, 36, 2; 161-176
1232-1087
1896-494X
Pojawia się w:
International Journal of Occupational Medicine and Environmental Health
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Synergistic mechanism of dodecylamine/octanol mixtures enhancing lepidolite flotation from the self-aggregation behaviors at the air/liquid interface
Autorzy:
Bai, Yang
Xu, Mengxu
Wen, Weixiang
Zhu, Shifei
Mo, Weichen
Yan, Pingke
Powiązania:
https://bibliotekanauki.pl/articles/27323641.pdf
Data publikacji:
2023
Wydawca:
Politechnika Wrocławska. Oficyna Wydawnicza Politechniki Wrocławskiej
Tematy:
DDA/OCT mixtures
self-aggregation behaviors
flotation foam
molecular dynamics simulations
surface tension
air interface
liquid interface
Opis:
Surface tension measurements and molecular dynamics (MD) simulations were used to explore the flotation foam properties and self-aggregation behaviors of dodecylamine (DDA)/octanol (OCT) mixtures formed with different mole ratios at the air/liquid interface. Based on the surface and thermodynamic parameters, the DDA/OCT mixtures exhibited greater interfacial activities and adsorption capacities than their individual components. The MD simulations showed that DDA and OCT were aggregated through hydrogen bonding, coulombic forces and hydrophobic association. OCT was inserted into the DDA adsorption layer, causing the alkyl chains of both DDA and OCT to extend from water to air at varying heights and angles. The addition of OCT improved the hydration of the amino groups and reduced the overall number of hydrogen bonds. The stability of the flotation foam decreased, and the high viscosity and difficult defoaming of the DDA flotation foam were significantly improved. When the DDA/OCT mole ratio was 2:1, the included angle formed between the alkyl chains and the interface was maximized, leading to enhanced compatibility among the alkyl chains, and the hydrogen bond energy was relatively large, which showed a strong synergistic effect. The MD simulation findings were consistent with the results obtained from the lepidolite flotation and surface tension experiments conducted in this study; our results could provide a theoretical foundation for the selection of superior mixed collectors and frothers.
Źródło:
Physicochemical Problems of Mineral Processing; 2023, 59, 6; art. no. 176510
1643-1049
2084-4735
Pojawia się w:
Physicochemical Problems of Mineral Processing
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Study on seawater scrubbing for SO2 removal from ships power plant exhaust gas
Autorzy:
Ma, Yiping
Xu, Leping
Su, Penghao
Feng, Daolun
Yang, Kailiang
Powiązania:
https://bibliotekanauki.pl/articles/207540.pdf
Data publikacji:
2020
Wydawca:
Politechnika Wrocławska. Oficyna Wydawnicza Politechniki Wrocławskiej
Tematy:
sulfur dioxide
absorption
seawater
dwutlenek siarki
adsorpcja
woda morska
Opis:
The mechanism of SO2 absorption in seawater is investigated, and the experiment was carried out accordingly. Emphasis is on applications of seawater scrubbing of ship’s power plant exhaust gas containing SO2. The formulated model is used to predict the influence of various parameters on both pH of tailwater and seawater desulfurization capability, e.g., the partial pressure of SO2, the partial pressure of CO2, tailwater temperature, pH and alkalinity of seawater. Experiment results indicated that the seawater desulfurization capacity increases with both increasing partial pressure of SO2, pH and alkalinity and decreasing partial pressure of CO2 and temperature. The study shows the desulfurization capacity of seawater with 3.5% salinity is approximately twice that of freshwater. Different scenarios in which the required absorbent supply rate for a given SO2 removal efficiency are studied. It is observed a 97% removal efficiency, corresponding to meeting the SOx limits in the SOx emission control areas (SECA) while operating on a heavy fuel oil containing sulfur 3.5 wt. %, requires a minimum water supply rate of 0.0407–0.0683 m3/kWh, depending mainly on the water composition in terms of alkalinity and salinity. Such data are important in assessing the operation cost of the water scrubbing system.
Źródło:
Environment Protection Engineering; 2020, 46, 1; 31-47
0324-8828
Pojawia się w:
Environment Protection Engineering
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Study on leaching kinetics of laterite ore using hydrochloric acid
Autorzy:
Li, Jinhui
Xu, Zhifeng
Wang, Ruixiang
Gao, Yang
Yang, Yang
Powiązania:
https://bibliotekanauki.pl/articles/110911.pdf
Data publikacji:
2019
Wydawca:
Politechnika Wrocławska. Oficyna Wydawnicza Politechniki Wrocławskiej
Tematy:
nickel laterite
hydrochloride acid
kinetics analysis
hydrometallurgy
leaching mechanism
Opis:
The process of atmosphere-pressure acid leaching of laterites has attracted considerable attention in the nickel industry in recent years. However, the leaching kinetics of laterite using hydrochloride acid has not yet been fully researched. In this paper, the mineral analysis of the ore was carried out, and the leaching mechanism of different minerals at different time was studied comprehensively. The kinetics analysis of the leaching process of nickel, cobalt and manganese showed that the kinetics model of diffusion controlling was suitable and could be described by the linear equation, 1-3(1-a)2/3+2(1-a)=k2t. Based on the linear equation and the Arrhenius equation, the values of activation energy of metal leaching can be deduced (11.56 kJ/mol for nickel, 11.26 kJ/mol for cobalt and 10.77 kJ/mol for manganese). Study of leaching mechanism shows that the order of these minerals dissolution is: goethite, lizardite, magnetite and hematite. Due to the original or product of silica, magnetite, hematite and talc, they can form the solid film which hinders the leaching of valuable metals. Thus, the diffusion controlling step is inner diffusion, namely solid film diffusion controlling.
Źródło:
Physicochemical Problems of Mineral Processing; 2019, 55, 3; 711-720
1643-1049
2084-4735
Pojawia się w:
Physicochemical Problems of Mineral Processing
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Study on flotation behavior and mechanism of separating chalcopyrite and Molybdenite with ethyl mercaptoglycolate as inhibitor
Autorzy:
Yang, Xiao-Feng
Xu-Zhao
Liu, Yao-Yao
Powiązania:
https://bibliotekanauki.pl/articles/24085868.pdf
Data publikacji:
2023
Wydawca:
Politechnika Wrocławska. Oficyna Wydawnicza Politechniki Wrocławskiej
Tematy:
ethyl thioglycolate
chalcopyrite
molybdenite
inhibitor
separation
Opis:
The effect of ethyl thioglycolate organic small molecule inhibitors on chalcopyrite molybdenite flotation behaviour is investigated via single mineral micro-flotation tests, zeta potential tests, and X-ray photoelectron spectroscopy (XPS) analysis. Results of the flotation test indicate that ethyl thioglycolate organic small-molecule inhibitors can effectively separate Cu and Mo and selectively inhibit chalcopyrite under weak alkaline conditions. Infrared spectroscopy and XPS analysis show that hydrophilic functional groups C=O and -COOH in the ethyl thioglycolate organic small molecules can chemically adsorb onto the chalcopyrite surface. Moreover, ethyl thioglycolate has no obvious effect on zeta potential of molybdenite. Therefore, ethyl thioglycolate can effectively separate chalcopyrite and molybdenite.
Źródło:
Physicochemical Problems of Mineral Processing; 2023, 59, 2; art. no. 162824
1643-1049
2084-4735
Pojawia się w:
Physicochemical Problems of Mineral Processing
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Study of a Compton backscattering wall defects detection device using the Monte Carlo method
Autorzy:
Qin, Xuan
Yang, Jianbo
Du, Zhengcong
Xu, Jie
Li, Rui
Li, Hui
Liu, Qi
Powiązania:
https://bibliotekanauki.pl/articles/24202748.pdf
Data publikacji:
2023
Wydawca:
Instytut Chemii i Techniki Jądrowej
Tematy:
compton backscattering
Monte Carlo
nondestructive testing
wall defect
Opis:
In view of the shortcomings of traditional wall defect detection methods, such as small detection range, poor accuracy, non-portable device, and so on, a wall defects detection device based on Compton backscattering technology is designed by Monte Carlo method, which is mainly used to detect the size and location information of defects in concrete walls. It mainly consists of two parts, the source container and the detection system: first, through the simulation and analysis of the parameters such as the receiving angle of thebackscattered particles and the rear collimating material of the detector, the influence of the fluorescent X-ray peak of the detector collimating material on the backscattered particle counts is eliminated and the detected error is reduced; second, the ring array detector design, compared with single array detector and surface array detector, can facilitate real-time detection of defect orientation, expanding the single scan range and improving the detection efficiency. After simulation and comparative analysis, the relevant optimal parameters are obtained: the object is detected using a Cs-137 γ-ray source with an activity of 6 mCi, and a ring detector consisting of four 0.5-inch cube-shaped CsI scintillator detectors is placed at 150° to receive the backscattered photons. The simulation analysis using the Monte Carlo FLUKA program showed that the maximum depth of wall defect detection is 8 cm, the maximum error fl uctuation range of defect depth and thickness is ±1 cm, the overall device weight is <20 kg, and the measurement time is <5 min.
Źródło:
Nukleonika; 2023, 68, 2; 57--63
0029-5922
1508-5791
Pojawia się w:
Nukleonika
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Simulation Evaluation Method for Fusion Characteristics of the Optical Camouflage Pattern
Metoda oceny symulacji charakterystyk wzoru kamuflażu optycznego
Autorzy:
Yang, Xin
Xu, Wei-Dong
Liu, Jun
Jia, Qi
Zhu, Wan-Nian
Powiązania:
https://bibliotekanauki.pl/articles/1419455.pdf
Data publikacji:
2021
Wydawca:
Sieć Badawcza Łukasiewicz - Instytut Biopolimerów i Włókien Chemicznych
Tematy:
camouflage pattern evaluation
effect evaluation
sampling statistics
visual feature
kamuflaż
efekt oddziaływania
próbkowanie
funkcja wizualna
Opis:
A comprehensive evaluation system for a camouflage design combining local effect evaluation and global sampling is developed. Different from previous models, this method can sample and evaluate target camouflage in a wide range of combat areas, thereby obtaining a comprehensive evaluation effect. In evaluating local effects, the Gaussian pyramid model is adopted to decompose the image on a multi-scale so that it can conform to the multi-resolution property of human eyes. The Universal Image Quality Index (UIQI) conforming to features of eye movements is then adopted to measure the similarities between multi-scale targeted and background brightness, color and textural features. In terms of the imitation camouflage pattern design algorithm, uniform sampling is used to obtain the evaluation distribution in the background; while for the deformation camouflage pattern, the sampling distribution is improved to make it conform to the movement rule of the target in the background. The evaluation results of the model for different designs were investigated. It is suggested by the experimental results that the model can compare and evaluate the indicators involved in the process of camouflage design, including integration, polychromatic adaptability and algorithm stability. This method can be applied in the evaluation and contrast of camouflage pattern design algorithms, in parameter optimisation of camouflage design and in scheme comparison in engineering practice, and can provide support of evaluation methodology for camouflage design theories.
W pracy opracowano kompleksowy system oceny projektu kamuflażu, łączący ocenę efektu lokalnego i próbkowanie globalne. W odróżnieniu od poprzednich modeli, ta metoda może próbkować i oceniać kamuflaż celu w szerokim zakresie obszarów walki, uzyskując w ten sposób kompleksowy efekt oceny. Oceniając efekty lokalne, przyjęto model piramidy Gaussa w celu dekompozycji obrazu w wielu skalach, tak aby mógł on być zgodny z właściwościami i rozdzielczością ludzkiego oka. Następnie przyjęto uniwersalny wskaźnik jakości obrazu (UIQI) zgodny z cechami ruchów oczu, tak aby zmierzyć podobieństwa między celowaniem w wielu skalach a jasnością tła, kolorem i cechami tekstury. Jeśli chodzi o algorytm projektowania imitacji wzoru kamuflażu, w celu uzyskania rozkładu oceny w tle zastosowano jednolite próbkowanie; podczas gdy w przypadku wzoru kamuflażu deformacji poprawiono rozkład próbkowania, tak aby był zgodny z regułą ruchu celu w tle. Zbadano wyniki oceny modelu dla różnych projektów. Wyniki eksperymentów wykazały, że model może służyć do porównania i oceny wskaźników procesu projektowania kamuflażu, w tym integrację, polichromatyczną adaptowalność i stabilność algorytmu. Metoda przedstawiona w pracy może znaleźć zastosowanie w ocenie algorytmów projektowania wzorów kamuflażu, w optymalizacji parametrów projektowania kamuflażu i przy porównywaniu schematów w praktyce inżynierskiej, a także może stanowić wsparcie dla metodologii oceny teorii projektowania kamuflażu.
Źródło:
Fibres & Textiles in Eastern Europe; 2021, 3 (147); 103-110
1230-3666
2300-7354
Pojawia się w:
Fibres & Textiles in Eastern Europe
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Research on dose correction method of vehicle-borne environmental radiation measurement equipment
Autorzy:
Xu, Jie
Ren, Jizhou
Yang, Jianbo
Fan, Jiawen
Li, Rui
Li, Hui
Huang, Weiqi
Yuan, Biao
Powiązania:
https://bibliotekanauki.pl/articles/2055679.pdf
Data publikacji:
2021
Wydawca:
Instytut Chemii i Techniki Jądrowej
Tematy:
dose correction factor
reference radiation field
vehicle-borne environmental radiation measurement equipment
Opis:
This study establishes a near-ground reference radiation field based on typical radionuclides of the Fukushima accident in response to the need for vehicle-borne environmental radiation measurement equipment that can accurately evaluate the environmental dose of nuclear accidents. The Monte Carlo code FLUKA is used to study the environmental dose of such equipment in the early and mid-late reference radiation fields of nuclear accidents. Results of the air dose rate at 1 m above the ground were corrected to eliminate data difference between diverse measurement platforms. Simulation results show that t he dose correction factor (CF) fluctuates at approximately 0.8813 in the early reference radiation field and at approximately 0.6711 in the mid-late reference radiation field . This deviation of the dose CF in the early and mid-late reference radiation field s is within 2% and is not affected by the change in detector position. This research can be applied to obtain more accurate measurement of an ambient dose in the near-ground radiation field and support the vehicle-borne environmental radiation measurement technology.
Źródło:
Nukleonika; 2021, 66, 3; 103--110
0029-5922
1508-5791
Pojawia się w:
Nukleonika
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Reliability analysis of machining center based on the field data
Analiza niezawodnościowa centrum obróbkowego w oparciu o dane terenowe
Autorzy:
Yang, Z. J.
Chen, Ch. H.
Chen, F.
Hao, Q. B.
Xu, B. B.
Powiązania:
https://bibliotekanauki.pl/articles/302160.pdf
Data publikacji:
2013
Wydawca:
Polska Akademia Nauk. Polskie Naukowo-Techniczne Towarzystwo Eksploatacyjne PAN
Tematy:
analiza uszkodzeń
centrum obróbkowe
polityka utrzymania ruchu
proces spełniający prawo potęgowe
system naprawialny
failure analysis
machining center
maintenance policy
power-law process
repairable system
Opis:
Machining center is the complex machinery, with high level automation and complicated structures, so there are lots of failures. When a random failure occurs, the failed machining center stops and causes a production line or even the whole workshop to stop functioning. The frequent failure leads to the low levels of reliability and production rate. In order to help users and manufacturers optimize maintenance policy to improve the reliability for machining center, this paper presents descriptive statistics of the failure data and develops the failure trend using power-law process, simultaneously establishes the routine inspection and regular inspection as well as the sequential preventive maintenance under maintenance cost constraints. The proposed model could be a useful tool to assess the current conditions, predict reliability and optimize the machining center maintenance policy.
Centrum obróbkowe to skomplikowany mechanizm o wysokim poziomie automatyzacji oraz złożonej konstrukcji, w związku z czym ulega licznym uszkodzeniom. Przy wystąpieniu przypadkowej awarii, uszkodzone centrum obróbkowe przestaje działać i powoduje zatrzymanie linii produkcyjnej a nawet całego oddziału produkcyjnego. Częste awarie obniżają poziom niezawodności oraz tempo produkcji. Aby pomóc użytkownikom i producentom zoptymalizować politykę utrzymania ruchu w celu poprawy niezawodności centrów obróbkowych, w niniejszym artykule przedstawiono statystyki opisowe dotyczące danych o uszkodzeniach i opracowano trend uszkodzeń w oparciu o proces spełniający prawo potęgowe. Jednocześnie ustalono zasady rutynowej inspekcji i okresowych przeglądów, jak również sekwencyjnej obsługi zapobiegawczej przy ograniczonych wydatkach na utrzymanie ruchu. Proponowany model może być użytecznym narzędziem dla potrzeb oceny aktualnych warunków oraz przewidywania niezawodności w celu optymalizacji polityki utrzymania ruchu centrum obróbkowego.
Źródło:
Eksploatacja i Niezawodność; 2013, 15, 2; 147-155
1507-2711
Pojawia się w:
Eksploatacja i Niezawodność
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Reliability analysis of a multi-eso based control strategy for level adjustment control system of quadruped robot under disturbances and failures
Analiza niezawodności strategii sterowania w oparciu o kilka obserwatorów stanu rozszerzonego ESO i jej zastosowanie w systemie kontroli regulacji poziomu czworonożnego robota w warunkach zakłóceń i uszkodzeń
Autorzy:
Cui, Jingjing
Ren, Yi
Xu, Binghui
Yang, Dezhen
Zeng, Shengkui
Powiązania:
https://bibliotekanauki.pl/articles/300872.pdf
Data publikacji:
2020
Wydawca:
Polska Akademia Nauk. Polskie Naukowo-Techniczne Towarzystwo Eksploatacyjne PAN
Tematy:
reliability analysis
fault tolerance
active disturbance rejection control (ADRC)
quadruped robot
analiza niezawodności
tolerancja uszkodzeń
aktywne tłumienie uszkodzeń (ADRC)
robot czworonożny
Opis:
The complexity of control algorithms and their vulnerability to disturbances and failures are the main problems that restrict the operations of multi-legged mobile robots in more complex environments. In this paper, a multiple extended state observer (ESO) based control strategy is proposed to achieve stable tilt angle control for quadruped robots under the influence of disturbances and actuator failures. By treating the multiple legs as parallel control objects, more ESOs were added to improve the disturbance rejection ability of the linear active disturbance rejection control (LADRC). Correlation of interactive information about the legs is realized by the synthesis of multiple ESO information. Based on LADRC, this method has the advantages of easy parameter tuning, good robustness, and strong ability to cope with interference and fault conditions. A control system reliability evaluation method was proposed. The reliability and control performance of the multi-ESO based control system under leg stuck failure conditions were systematically analyzed. Simulation and experimental results for the level adjustment control system of a quadruped robot are provided to verify the disturbance rejection ability, feasibility and practicability of the proposed multi-ESO based control method.
Złożoność algorytmów sterowania oraz ich brak odporności na zakłócenia i uszkodzenia to główne czynniki ograniczające pracę wielonożnych robotów mobilnych w bardziej złożonych środowiskach. W przedstawionym artykule zaproponowano strategię sterowania wykorzystującą kilka obserwatorów stanu rozszerzonego (ESO), która pozwala na uzyskanie stabilnego kąta pochylenia robota czworonożnego w warunkach zakłóceń i uszkodzeń siłowników. Traktując każdą z nóg jako równorzędny obiekt sterowania, dodano dodatkowe ESO, co pozwoliło na poprawienie zdolności algorytmu liniowego aktywnego tłumienia zakłóceń (LADRC) do kompensacji (tłumienia) tych ostatnich. Interaktywne informacje dotyczące poszczególnych nóg korelowano poprzez syntezę danych z ESO. Zaletami omawianej metody opartej na LADRC są: łatwość dostrajania parametrów, wysoka niezawodność oraz bardzo dobra zdolność do radzenia sobie z zakłóceniami i uszkodzeniami. Zaproponowano także metodę oceny niezawodności systemu sterowania. Analizowano niezawodność i wydajność systemu opartego na kilku ESO w warunkach awarii wywołanej zablokowaniem nóg robota. Przedstawiono wyniki badań symulacyjnych i eksperymentalnych systemu sterowania regulacją poziomu robota czworonożnego, które pozwalają zweryfikować zdolność proponowanej metody do tłumienia zakłóceń, a także możliwość jej praktycznego zastosowania.
Źródło:
Eksploatacja i Niezawodność; 2020, 22, 1; 42-51
1507-2711
Pojawia się w:
Eksploatacja i Niezawodność
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Reconstruction of oviraptorid clutches illuminates their unique nesting biology
Autorzy:
Yang, T.-R.
Wiemann, J.
Xu, L.
Cheng, Y.-N.
Wu, X.-C.
Sander, P.M.
Powiązania:
https://bibliotekanauki.pl/articles/19933.pdf
Data publikacji:
2019
Wydawca:
Polska Akademia Nauk. Instytut Paleobiologii PAN
Opis:
Oviraptorosaurs, a group of non-avian theropod dinosaurs from the Cretaceous of Asia and North America, left behind the most abundant and informative fossil evidence of dinosaur reproductive biology. Previous studies had suggested that oviraptorosaur reproductive biology represents an intermediate stage and exhibited unique modern avian traits. For instance, the adult-associated clutches were predominantly considered as evidence for brooding/thermoregulatory contact incubation (TCI) behaviors, whereas the hypotheses of laying or protection were neglected. Despite numerous oviraptorid egg clutches uncovered from China and Mongolia, their nest architecture and clutch arrangement were rarely investigated in detail. Here we present a comprehensive reconstruction of an oviraptorid clutch based on five new oviraptorid clutches from Jiangxi Province, China. A detailed examination of the new clutches reveals a partially-open oviraptorid nest that contains 3–4 rings of paired eggs (more than 15 pairs total) whose blunt end points toward the center devoid of eggs at an angle of 35–40°. Our detailed three-dimensional reconstruction indicates that the oviraptorid clutch has a unique architecture unknown from extant bird clutches, implying an apomorphic nesting mode. Such a unique nest architecture further contradicts the TCI hypothesis in oviraptorids, hindering sufficient heat transfer to the inner (lower) ring(s) of eggs. Moreover, the size of the new oviraptorid clutches (>30 eggs) is significantly larger than that of the adult-associated clutches (<22 eggs), raising the alternative hypothesis that the adult-associated clutches were uncompleted. This clue thus supports the hypothesis that the clutch-associated oviraptorid adults possibly represent females after an oviposition before a catastrophic sandstorm/flooding burial.
Źródło:
Acta Palaeontologica Polonica; 2019, 64, 3
0567-7920
Pojawia się w:
Acta Palaeontologica Polonica
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Rat robot motion state identification based on a wearable inertial sensor
Autorzy:
Chen, Yuxin
Xu, Haoze
Yang, Wei
Yang, Canjun
Xu, Kedi
Powiązania:
https://bibliotekanauki.pl/articles/1849133.pdf
Data publikacji:
2021
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
inertial sensor
real-time measurement
rat robot
motion state
Opis:
Rat robots have great potential in rescue and search tasks because of their excellent motion ability. However, most of the current rat-robot systems relay on human guidance due to variable voluntary motor behaviour of rats, which limits their application. In this study, we developed a real-time system to detect a rat robot’s transient motion states, as the prerequisite for further study of automatic navigation. We built the detection model by using a wearable inertial sensor to capture acceleration and angular velocity data during the control of a rat robot. Various machine learning algorithms, including Decision Trees, Random Forests, Logistic Regression, and Support Vector Machines, were employed to perform the classification of motion states. This detection system was tested in manual navigation experiments, with detection accuracy achieving 96.70%. The sequence of transient motion states could be further used as a promising reference for offline behaviour analysis.
Źródło:
Metrology and Measurement Systems; 2021, 28, 2; 255-268
0860-8229
Pojawia się w:
Metrology and Measurement Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
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