This paper proposes an adaptive nonlinear proportional-derivative(ANPD)controller for a two-wheeled self-balancing robot(TWSB)modeled by the Lagrange equation with external forces.The proposed control scheme is design...This paper proposes an adaptive nonlinear proportional-derivative(ANPD)controller for a two-wheeled self-balancing robot(TWSB)modeled by the Lagrange equation with external forces.The proposed control scheme is designed based on the combination of a nonlinear proportional-derivative(NPD)controller and a genetic algorithm,in which the proportional-derivative(PD)parameters are updated online based on the tracking error and the preset error threshold.In addition,the genetic algorithm is employed to adaptively select initial controller parameters,contributing to system stability and improved control accuracy.The proposed controller is basic in design yet simple to implement.The ANPD controller has the advantage of being computationally lightweight and providing high robustness against external forces.The stability of the closed-loop system is rigorously analyzed and verified using Lyapunov theory,providing theoretical assurance of its robustness.Simulations and experimental results show that the TWSB robot with the proposed ANPD controller achieves quick balance and tracks target values with very small errors,demonstrating the effectiveness and performance of the proposed controller.The proposed ANPD controller demonstrates significant improvements in balancing and tracking performance for two-wheeled self-balancing robots,which has great applicability in the field of robot control systems.This represents a promising solution for applications requiring precise and stable motion control under varying external conditions.展开更多
A novel motor learning method is present based on the cooperation of the cerebellum and basal ganglia for the behavior learning of agent. The motor learning method derives from the principle of CNS and operant learnin...A novel motor learning method is present based on the cooperation of the cerebellum and basal ganglia for the behavior learning of agent. The motor learning method derives from the principle of CNS and operant learning mechanism and it depends on the interactions between the basal ganglia and cerebellum. The whole learning system is composed of evaluation mechanism, action selection mechanism, tropism mechanism. The learning signals come from not only the Inferior Olive but also the Substantia Nigra in the beginning. The speed of learning is increased as well as the failure time is reduced with the cerebellum as a supervisor. Convergence can be guaranteed in the sense of entropy. With the proposed motor learning method, a motor learning system for the self-balancing two-wheeled robot has been built using the RBF neural networks as the actor and evaluation function approximator. The simulation experiments showed that the proposed motor learning system achieved a better learning effect, so the motor learning based on the coordination of cerebellum and basal ganglia is effective.展开更多
In this paper,a robust tracking control scheme based on nonlinear disturbance observer is developed for the self-balancing mobile robot with external unknown disturbances.A desired velocity control law is firstly desi...In this paper,a robust tracking control scheme based on nonlinear disturbance observer is developed for the self-balancing mobile robot with external unknown disturbances.A desired velocity control law is firstly designed using the Lyapunov analysis method and the arctan function.To improve the tracking control performance,a nonlinear disturbance observer is developed to estimate the unknown disturbance of the self-balancing mobile robot.Using the output of the designed disturbance observer,the robust tracking control scheme is presented employing the sliding mode method for the selfbalancing mobile robot.Numerical simulation results further demonstrate the effectiveness of the proposed robust tracking control scheme for the self-balancing mobile robot subject to external unknown disturbances.展开更多
The purpose of this study is to develop a self-balancing controller (SBC) for one-wheeled vehicles (OWVs). The composition of the OWV system includes: a DSP motion card, a wheel motor, and its driver. In addition, a t...The purpose of this study is to develop a self-balancing controller (SBC) for one-wheeled vehicles (OWVs). The composition of the OWV system includes: a DSP motion card, a wheel motor, and its driver. In addition, a tilt and a gyro, for sensing the angle and angular velocity of the body slope, are used to realize self-balancing controls. OWV, a kind of unicycle robot, can be dealt with as a mobile-inverted-pendulum system for its instability. However, for its possible applications in mobile carriers or robots, it is worth being further developed. In this study, first, the OWV system model will be derived. Next, through the simulations based on the mathematical model, the analysis of system stability and controllability can be evaluated. Last, a concise and realizable method, through system pole-placement and linear quadratic regulator (LQR), will be proposed to design the SBC. The effectiveness, reliability, and feasibility of the proposal will be con- firmed through simulation studies and experimenting on a physical OWV.展开更多
The paper presents the research on self-balancing two-wheels mobile robot control system analysis with experimental studies.The research problem in this work is to stabilize the mobile robot with self-control and to c...The paper presents the research on self-balancing two-wheels mobile robot control system analysis with experimental studies.The research problem in this work is to stabilize the mobile robot with self-control and to carry the sensitive things without failing in a long span period.The main objective of this study is to focus on the mathematical modelling of mobile robot from laboratory scale to real world applications.The numerical expression with mathematical modelling is very important to control the mobile robot system with linearization.The fundamental concepts of dynamic system stability were utilized for maintaining the stability of the constructed mobile robot system.The controller design is also important for checking the stability and the appropriate controller design is proportional,integral,and derivative-PID controller and Linear Quadratic Regulator(LQR).The steady state error could be reduced by using such kind of PID controller.The simulation of numerical expression on mathematical modeling was conducted in MATLAB environments.The confirmation results from the simulation techniques were applied to construct the hardware design of mobile robot system for practical study.The results from simulation approaches and experimental approaches are matched in various kinds of analyses.The constructed mobile robot system was designed and analyzed in the control system design laboratory of Yangon Technological University(YTU).展开更多
At present,there is limited research on the application of fuel cell power generation system technology using solid hydrogen storage materials,especially in hydrogen-assisted two-wheelers.Considering the disadvantages...At present,there is limited research on the application of fuel cell power generation system technology using solid hydrogen storage materials,especially in hydrogen-assisted two-wheelers.Considering the disadvantages of low hydrogen storage capacity and poor kinetics of hydrogen storage materials,our primary focus is to achieve smooth hydrogen ab-/desorption over a wide temperature range to meet the requirements of fuel cells and their integrated power generation systems.In this paper,the Ti_(0.9)Zr_(0.1)Mn_(1.45)V_(0.4)Fe_(0.15) hydrogen storage alloy was successfully prepared by arc melting.The maximum hydrogen storage capacity reaches 1.89 wt% at 318 K.The alloy has the capability to absorb 90% of hydrogen storage capacity within 50 s at 7 MPa and release 90% of hydrogen within 220 s.Comsol Multiphysics 6.0 software was used to simulate the hydrogen ab-/desorption processes of the tank.The flow rate of cooling water during hydrogen absorption varied in a gradient of(0.02 t x)m s^(-1)(x=0,0.02,0.04,0.06,0.08,0.1,0.12).Cooling water flow rate is positively correlated with the hydrogen absorption rate but negatively correlated with the cost.When the cooling rate is 0.06 m s^(-1),both simulation and experimentation have shown that the hydrogen storage tank is capable of steady hydrogen desorption for over 6 h at a flow rate of 2 L min^(-1).Based on the above conclusions,we have successfully developed a hydrogen-assisted two-wheeler with a range of 80 km and achieved regional demonstration operations in Changzhou and Shaoguan.This paper highlights the achievements of our team in the technological development of fuel cell power generation systems using solid hydrogen storage materials as hydrogen storage carriers and their application in twowheelers in recent years.展开更多
Based on the characteristics of pile-soil interaction and the Mohr-Coulomb strength theory,a new method of determining the side friction at a pile-soil interaction is proposed.Combined with the actual engineering case...Based on the characteristics of pile-soil interaction and the Mohr-Coulomb strength theory,a new method of determining the side friction at a pile-soil interaction is proposed.Combined with the actual engineering cases,the effectiveness of the analogue test method is verified by comparing it with the traditional anchor pile method and self-balanced method.Taking the self-balanced test of the bridge pile foundation in the Songhua River as an example,the conversion factor of sandy soil and weathered mudstone are confirmed by the analogue test method.The results show that the conversion factor of sandy soil and weathered mudstone in the Songhua River area should consider the geological conditions and the construction technology,etc.The standard values are relatively conservative.It is suggested that the engineering application should be properly revised.The recommended range of the conversion factor of sandy soil in this area is 0.65 to 0.85,and that of weathered mudstone is 1.0.展开更多
This paper presents an OCPA （operant conditioning probabilistic automaton） bionic autonomous learning system based on Skinner＇s operant conditioning theory for solving the balance control problem of a two-wheeled f...This paper presents an OCPA （operant conditioning probabilistic automaton） bionic autonomous learning system based on Skinner＇s operant conditioning theory for solving the balance control problem of a two-wheeled flexible robot. The OCPA learning system consists of two stages： in the first stage, an operant action is selected stochastically from a set of operant actions and then used as the input of the control system; in the second stage, the learning system gathers the orientation information of the system and uses it for optimization until achieves control target. At the same time, the size of the operant action set can be automatically reduced during the learning process for avoiding little probability event. Theory analysis is made for the designed OCPA learning system in the paper, which theoretically proves the convergence of operant conditioning learning mechanism in OCPA learning system, namely the operant action entropy will converge to minimum with the learning process. And then OCPA learning system is applied to posture balanced control of two-wheeled flexible self-balanced robots. Robot does not have posutre balanced skill in initial state and the selecting probability of each operant in operant sets is equal. With the learning proceeding, the selected probabilities of optimal operant gradually tend to one and the operant action entropy gradually tends to minimum, and so robot gradually learned the posture balanced skill.展开更多
Based on the study on the city transport systems of some typical cities worldwide,this paper put forward that each city transport system has its own development mode,which is influenced by the city development plan,ec...Based on the study on the city transport systems of some typical cities worldwide,this paper put forward that each city transport system has its own development mode,which is influenced by the city development plan,economic development level,traveling vehicle composition etc..When some problems occur,such as the congestions caused by contradiction between the road capacity and vehicle composition,the city transport system may come into temporary maturity period.If the improvement for road system is limited meanwhile,optimized structure of vehicle composition should be an effective solution in this case.With the development of economy-internationalization,the development speed of city transport modernization is rapid.When traveling easiness is conflicting with efficiency,the advantages of public transport system become more obvious.Correspondingly,the superiority of two-wheel vehicles will reappear.Though the important function of two-wheel vehicles for alleviating city traffic problems is obvious,however,their development strategy must be reasonably proposed,and operation regulations must be performed accordingly.展开更多
A self-balanced charge pump （CP） with fast lock circuit to achieve nearly zero phase error is proposed and analyzed. The proposed CP is designed based on the SMIC 0.25μm 1P5M complementary metal oxide semiconductor...A self-balanced charge pump （CP） with fast lock circuit to achieve nearly zero phase error is proposed and analyzed. The proposed CP is designed based on the SMIC 0.25μm 1P5M complementary metal oxide semiconductor （CMOS） process with a 2.5 V supply voltage, HSPICE simulation shows that even if the mismatch of phase/frequency detector （PFD） was beyond 10%, the charge pump could still keep nearly zero phase error, Incorporated fast lock circuit can shorten start-up time to below 300 ns.展开更多
An improved method of generating the self-balanced chaotic spread-spectrum code is presented. The chaotic-map pseudorandom sequence is used as the generated source. After a series of processing two-valued quantization...An improved method of generating the self-balanced chaotic spread-spectrum code is presented. The chaotic-map pseudorandom sequence is used as the generated source. After a series of processing two-valued quantization, inversion, all upside down, radix-S block upside down and shift combination, the proposed code is achieved. Theory analysis and simulation performance of the improved code are illustrated. And the results indicate that the suggested method gains a better performance than the traditional one by reasonable choices of the initial value and the S parameter in the im- proved method. Meanwhile the chaotic sequence＇ s characteristic of large addresses is inherited when the chaotic-map is used as the source. This advantage makes this improved code very suitable for the multiple access application in communication system.展开更多
With the development of economy and society,China’s comprehensive national strength has been continuously enhanced and its international influence has been increasing.China is shouldering more international responsib...With the development of economy and society,China’s comprehensive national strength has been continuously enhanced and its international influence has been increasing.China is shouldering more international responsibilities and obligations to make greater contributions to building a community of shared future for mankind by“always being a builder of world peace,a contributor to global development,and a defender of the international order”.In March 2015,President Xi Jinping put forward the concept of the Belt and Road Initiative,which not only pointed out the way for Chinese social organizations to participate in international affairs,but also opened up unprecedented opportunities for Chinese social organizations to further participate in global governance.展开更多
Predicting of repair and maintenance （R＆M） costs of tractors in any mechanized farm is necessary for owners and managers to obtain information on overall costs and to control financial balance and production econom...Predicting of repair and maintenance （R＆M） costs of tractors in any mechanized farm is necessary for owners and managers to obtain information on overall costs and to control financial balance and production economy. In this context a study was conducted to predict accumulated R＆M costs （Y） of two-wheel drive （2WD） tractors based on accumulated usage hours （X） in Misagh-e-Sabz Agribusiness Company in Iran. Recorded data of the company were used to determine regression models for predicting accumulated R＆M costs （as percentage of initial purchase price） based on accumulated usage hours. The statistical results of the study indicated that in order to predict accumulated R＆M costs of 2WD tractors with accumulated usage hours of 2260 h or less the power regression model Y=0.013 （X/100）1.677 with R2=0.976, and to predict accumulated R＆M costs of 2WD tractors with accumulated usage hours of 2260 h or more the polynomial regression model Y=0.004 （X/100）2-0.181 （X/1 00）＋4.373 with R2=0.998 can be strongly suggested.展开更多
This study mainly concerns a motion model and the main control algorithm of two-wheel self-balancing vehicle models.Details of the critical parameters fetching and output value of two-wheel self-balancing vehicle mode...This study mainly concerns a motion model and the main control algorithm of two-wheel self-balancing vehicle models.Details of the critical parameters fetching and output value of two-wheel self-balancing vehicle models are introduced,including those concerning balance control,speed control and direction control.An improved cascade coupling control scheme is proposed for two-wheel vehicles,based on a proportional-integral-derivative(PID)control algorithm.Moreover,a thorough comparison between a classic control system and the improved system is provided,and all aspects thereof are analyzed.It is determined that the control performance of the two-wheel self-balancing vehicle system based on the PID control algorithm is reliable,enabling the vehicle body to maintain balance while moving smoothly along a road at a fast average speed with better practical per-formance.展开更多
Bipolar medium-voltage DC(MVDC)and lowvoltage DC(LVDC)grids have the advantages of flexible integration of distributed renewable-energy generation and reliable power supply.In order to achieve voltage conversion,power...Bipolar medium-voltage DC(MVDC)and lowvoltage DC(LVDC)grids have the advantages of flexible integration of distributed renewable-energy generation and reliable power supply.In order to achieve voltage conversion,power transfer,and electrical isolation for bipolar MVDC and LVDC grids,a high-power DC-DC converter is essential.Therefore,this paper proposes an isolated bipolar modular multilevel DCDC converter(BiMMDC)with power self-balancing capability for interconnection of MVDC and LVDC grids.The proposed BiMMDC consists of two series connected MMCs in the MV stage to configure a bipolar MVDC interface,and interleaved converters combined with a dual-transformer are designed in the LV stage to configure the bipolar LVDC interface and to provide a self-balancing capability.Equivalent circuits of two series-connected MMCs and a dual-transformer with interleaved converters are derived.After that,operation principles of the proposed BiMMDC are introduced,considering balanced/unbalanced power transfer of bipolar LVDC grid and monopolar shortcircuit or open-circuit faults at MVDC grid.The control scheme is also presented for the proposed BiMMDC under different operating conditions.Finally,a Matlab simulation and controller hardware-in-the-loop(CHIL)evaluation results are provided to validate the feasibility and effectiveness of the proposed typology and its operating performance.展开更多
This paper presents a comprehensive techno-economic and environmental impact analysis of electric two-wheeler batteries in India.The technical comparison reveals that sodium-ion(Na-ion)and lithium-ion(Li-ion)batteries...This paper presents a comprehensive techno-economic and environmental impact analysis of electric two-wheeler batteries in India.The technical comparison reveals that sodium-ion(Na-ion)and lithium-ion(Li-ion)batteries outperform lead-acid batteries in various parameters,with Na-ion and Li-ion batteries exhibiting higher energy densities,higher power densities,longer cycle lives,faster charge rates,better compactness,lighter weight and lower self-discharge rates.In economic comparison,Na-ion batteries were found to be~12-14%more expensive than Li-ion batteries.However,the longer lifespans and higher energy densities of Na-ion and Li-ion batteries can offset their higher costs through improved performance and long-term savings.Lead-acid batteries have the highest environmental impact,while Li-ion batteries demonstrate better environmental performance and potential for recycling.Na-ion batteries offer promising environmental advantages with their abundance,lower cost and lower toxic and hazardous material content.Efficient recycling processes can further enhance the environmental benefits of Na-ion batteries.Overall,this research examines the potential of Na-ion batteries as a cheaper alternative to Li-ion batteries,considering India’s abundant sodium resources in regions such as Rajasthan,Chhattisgarh,Jharkhand and others.展开更多
Time effect of wet drilling pile is investigated through the static load experiment on pile No. 22 of Guanhe Bridge. Post-grouting under pile tip is adopted in the project. To study the bearing performance of the pile...Time effect of wet drilling pile is investigated through the static load experiment on pile No. 22 of Guanhe Bridge. Post-grouting under pile tip is adopted in the project. To study the bearing performance of the pile, the self-balanced method is used and two load cells are assembled in the pile body. The experiments are carried out before and after post-grouting. The upper part of the pile is not influenced by post-grouting under the pile tip. Experimental results of the upper part of the pile show that the bearing capacity and the rigidity of wet drilling pile increase with time passing on. Analysis results show the time effect of wet drilling pile is influenced by many factors, such as alteration of stress field around pile, characteristics of soil around pile, variety of mud cake, and property of residue under pile tip.展开更多
This paper presents the design, analysis and experimental study of a loading system for heavy-duty nodes test based on a large-scale multi-directional in-plane loading device, which has been used in a full-scale heavy...This paper presents the design, analysis and experimental study of a loading system for heavy-duty nodes test based on a large-scale multi-directional in-plane loading device, which has been used in a full-scale heavy-duty support node test. Test loads of the support reached 6 567 kN with multi-directional loading requirements, which outrange the capacity of the available loading devices. Through the reinforcement of a large-scale multi-directional inplane loading device, the innovative design of a self-balanced load transferring device, and other arrangement considerations of the loading system, the test was implemented and the loading capacity of the ring was considerably enlarged. Due to the heavy loading requirements, some checking computations of the ring and the load transferring device outranged the limit of the Chinese national code "Code for Design of Steel Structures (GB 50017—2003)", thus elastic-plastic finite element (FE) analysis was carried out on the two devices, and also the real-time monitoring on the whole loading systems during experiments to ensure test safety. FE analysis and test results show that the loading system worked elastically during experiments.展开更多
This paper presents a novel five degrees of freedom (DOF) two-wheeled robotic machine (TWRM) that delivers solutions for both industrial and service robotic applications by enlarging the vehicle′s workspace and incre...This paper presents a novel five degrees of freedom (DOF) two-wheeled robotic machine (TWRM) that delivers solutions for both industrial and service robotic applications by enlarging the vehicle′s workspace and increasing its flexibility. Designing a two-wheeled robot with five degrees of freedom creates a high challenge for the control, therefore the modelling and design of such robot should be precise with a uniform distribution of mass over the robot and the actuators. By employing the Lagrangian modelling approach, the TWRM′s mathematical model is derived and simulated in Matlab/Simulink?. For stabilizing the system′s highly nonlinear model, two control approaches were developed and implemented: proportional-integral-derivative (PID) and fuzzy logic control (FLC) strategies. Considering multiple scenarios with different initial conditions, the proposed control strategies′ performance has been assessed.展开更多
文摘This paper proposes an adaptive nonlinear proportional-derivative(ANPD)controller for a two-wheeled self-balancing robot(TWSB)modeled by the Lagrange equation with external forces.The proposed control scheme is designed based on the combination of a nonlinear proportional-derivative(NPD)controller and a genetic algorithm,in which the proportional-derivative(PD)parameters are updated online based on the tracking error and the preset error threshold.In addition,the genetic algorithm is employed to adaptively select initial controller parameters,contributing to system stability and improved control accuracy.The proposed controller is basic in design yet simple to implement.The ANPD controller has the advantage of being computationally lightweight and providing high robustness against external forces.The stability of the closed-loop system is rigorously analyzed and verified using Lyapunov theory,providing theoretical assurance of its robustness.Simulations and experimental results show that the TWSB robot with the proposed ANPD controller achieves quick balance and tracks target values with very small errors,demonstrating the effectiveness and performance of the proposed controller.The proposed ANPD controller demonstrates significant improvements in balancing and tracking performance for two-wheeled self-balancing robots,which has great applicability in the field of robot control systems.This represents a promising solution for applications requiring precise and stable motion control under varying external conditions.
文摘A novel motor learning method is present based on the cooperation of the cerebellum and basal ganglia for the behavior learning of agent. The motor learning method derives from the principle of CNS and operant learning mechanism and it depends on the interactions between the basal ganglia and cerebellum. The whole learning system is composed of evaluation mechanism, action selection mechanism, tropism mechanism. The learning signals come from not only the Inferior Olive but also the Substantia Nigra in the beginning. The speed of learning is increased as well as the failure time is reduced with the cerebellum as a supervisor. Convergence can be guaranteed in the sense of entropy. With the proposed motor learning method, a motor learning system for the self-balancing two-wheeled robot has been built using the RBF neural networks as the actor and evaluation function approximator. The simulation experiments showed that the proposed motor learning system achieved a better learning effect, so the motor learning based on the coordination of cerebellum and basal ganglia is effective.
基金supported by the National Natural Science Foundation of China(61573184)the Specialized Research Fund for the Doctoral Program of Higher Education(20133218110013)+1 种基金the Six Talents Peak Project of Jainism Province(2012-XRAY-010)the Fundamental Research Funds for theCentral Universities(NE2016101)
文摘In this paper,a robust tracking control scheme based on nonlinear disturbance observer is developed for the self-balancing mobile robot with external unknown disturbances.A desired velocity control law is firstly designed using the Lyapunov analysis method and the arctan function.To improve the tracking control performance,a nonlinear disturbance observer is developed to estimate the unknown disturbance of the self-balancing mobile robot.Using the output of the designed disturbance observer,the robust tracking control scheme is presented employing the sliding mode method for the selfbalancing mobile robot.Numerical simulation results further demonstrate the effectiveness of the proposed robust tracking control scheme for the self-balancing mobile robot subject to external unknown disturbances.
文摘The purpose of this study is to develop a self-balancing controller (SBC) for one-wheeled vehicles (OWVs). The composition of the OWV system includes: a DSP motion card, a wheel motor, and its driver. In addition, a tilt and a gyro, for sensing the angle and angular velocity of the body slope, are used to realize self-balancing controls. OWV, a kind of unicycle robot, can be dealt with as a mobile-inverted-pendulum system for its instability. However, for its possible applications in mobile carriers or robots, it is worth being further developed. In this study, first, the OWV system model will be derived. Next, through the simulations based on the mathematical model, the analysis of system stability and controllability can be evaluated. Last, a concise and realizable method, through system pole-placement and linear quadratic regulator (LQR), will be proposed to design the SBC. The effectiveness, reliability, and feasibility of the proposal will be con- firmed through simulation studies and experimenting on a physical OWV.
基金fully supported by Government Research Funds for 2021-2022 Academic Year.
文摘The paper presents the research on self-balancing two-wheels mobile robot control system analysis with experimental studies.The research problem in this work is to stabilize the mobile robot with self-control and to carry the sensitive things without failing in a long span period.The main objective of this study is to focus on the mathematical modelling of mobile robot from laboratory scale to real world applications.The numerical expression with mathematical modelling is very important to control the mobile robot system with linearization.The fundamental concepts of dynamic system stability were utilized for maintaining the stability of the constructed mobile robot system.The controller design is also important for checking the stability and the appropriate controller design is proportional,integral,and derivative-PID controller and Linear Quadratic Regulator(LQR).The steady state error could be reduced by using such kind of PID controller.The simulation of numerical expression on mathematical modeling was conducted in MATLAB environments.The confirmation results from the simulation techniques were applied to construct the hardware design of mobile robot system for practical study.The results from simulation approaches and experimental approaches are matched in various kinds of analyses.The constructed mobile robot system was designed and analyzed in the control system design laboratory of Yangon Technological University(YTU).
基金financed by the National Key Research and Development Program of China[grants number 2022YFB3803800]the National Natural Science Foundation of China[grants number 52071141,52271212,52201250,51771056]Interdisciplinary Innovation Program of North China Electric Power University[grants number XM2112355].
文摘At present,there is limited research on the application of fuel cell power generation system technology using solid hydrogen storage materials,especially in hydrogen-assisted two-wheelers.Considering the disadvantages of low hydrogen storage capacity and poor kinetics of hydrogen storage materials,our primary focus is to achieve smooth hydrogen ab-/desorption over a wide temperature range to meet the requirements of fuel cells and their integrated power generation systems.In this paper,the Ti_(0.9)Zr_(0.1)Mn_(1.45)V_(0.4)Fe_(0.15) hydrogen storage alloy was successfully prepared by arc melting.The maximum hydrogen storage capacity reaches 1.89 wt% at 318 K.The alloy has the capability to absorb 90% of hydrogen storage capacity within 50 s at 7 MPa and release 90% of hydrogen within 220 s.Comsol Multiphysics 6.0 software was used to simulate the hydrogen ab-/desorption processes of the tank.The flow rate of cooling water during hydrogen absorption varied in a gradient of(0.02 t x)m s^(-1)(x=0,0.02,0.04,0.06,0.08,0.1,0.12).Cooling water flow rate is positively correlated with the hydrogen absorption rate but negatively correlated with the cost.When the cooling rate is 0.06 m s^(-1),both simulation and experimentation have shown that the hydrogen storage tank is capable of steady hydrogen desorption for over 6 h at a flow rate of 2 L min^(-1).Based on the above conclusions,we have successfully developed a hydrogen-assisted two-wheeler with a range of 80 km and achieved regional demonstration operations in Changzhou and Shaoguan.This paper highlights the achievements of our team in the technological development of fuel cell power generation systems using solid hydrogen storage materials as hydrogen storage carriers and their application in twowheelers in recent years.
基金The National Key Research and Development Program(No.2017YFC0703408)the National Natural Science Foundation of China(No.51478109,51678145,51878160)
文摘Based on the characteristics of pile-soil interaction and the Mohr-Coulomb strength theory,a new method of determining the side friction at a pile-soil interaction is proposed.Combined with the actual engineering cases,the effectiveness of the analogue test method is verified by comparing it with the traditional anchor pile method and self-balanced method.Taking the self-balanced test of the bridge pile foundation in the Songhua River as an example,the conversion factor of sandy soil and weathered mudstone are confirmed by the analogue test method.The results show that the conversion factor of sandy soil and weathered mudstone in the Songhua River area should consider the geological conditions and the construction technology,etc.The standard values are relatively conservative.It is suggested that the engineering application should be properly revised.The recommended range of the conversion factor of sandy soil in this area is 0.65 to 0.85,and that of weathered mudstone is 1.0.
基金supported by the National Natural Science Foundation of China (No. 60774077)the National High Technology Development Plan(863) of China (No. 2007AA04Z226)+1 种基金the Beijing Municipal Education Commission Key Project (No. KZ200810005002)the Beijing Natural Science Foundation Project (No. 4102011)
文摘This paper presents an OCPA （operant conditioning probabilistic automaton） bionic autonomous learning system based on Skinner＇s operant conditioning theory for solving the balance control problem of a two-wheeled flexible robot. The OCPA learning system consists of two stages： in the first stage, an operant action is selected stochastically from a set of operant actions and then used as the input of the control system; in the second stage, the learning system gathers the orientation information of the system and uses it for optimization until achieves control target. At the same time, the size of the operant action set can be automatically reduced during the learning process for avoiding little probability event. Theory analysis is made for the designed OCPA learning system in the paper, which theoretically proves the convergence of operant conditioning learning mechanism in OCPA learning system, namely the operant action entropy will converge to minimum with the learning process. And then OCPA learning system is applied to posture balanced control of two-wheeled flexible self-balanced robots. Robot does not have posutre balanced skill in initial state and the selecting probability of each operant in operant sets is equal. With the learning proceeding, the selected probabilities of optimal operant gradually tend to one and the operant action entropy gradually tends to minimum, and so robot gradually learned the posture balanced skill.
文摘Based on the study on the city transport systems of some typical cities worldwide,this paper put forward that each city transport system has its own development mode,which is influenced by the city development plan,economic development level,traveling vehicle composition etc..When some problems occur,such as the congestions caused by contradiction between the road capacity and vehicle composition,the city transport system may come into temporary maturity period.If the improvement for road system is limited meanwhile,optimized structure of vehicle composition should be an effective solution in this case.With the development of economy-internationalization,the development speed of city transport modernization is rapid.When traveling easiness is conflicting with efficiency,the advantages of public transport system become more obvious.Correspondingly,the superiority of two-wheel vehicles will reappear.Though the important function of two-wheel vehicles for alleviating city traffic problems is obvious,however,their development strategy must be reasonably proposed,and operation regulations must be performed accordingly.
基金Supported by the National High Technology Re-search and Development Programof China (2004AA122310)
文摘A self-balanced charge pump （CP） with fast lock circuit to achieve nearly zero phase error is proposed and analyzed. The proposed CP is designed based on the SMIC 0.25μm 1P5M complementary metal oxide semiconductor （CMOS） process with a 2.5 V supply voltage, HSPICE simulation shows that even if the mismatch of phase/frequency detector （PFD） was beyond 10%, the charge pump could still keep nearly zero phase error, Incorporated fast lock circuit can shorten start-up time to below 300 ns.
文摘An improved method of generating the self-balanced chaotic spread-spectrum code is presented. The chaotic-map pseudorandom sequence is used as the generated source. After a series of processing two-valued quantization, inversion, all upside down, radix-S block upside down and shift combination, the proposed code is achieved. Theory analysis and simulation performance of the improved code are illustrated. And the results indicate that the suggested method gains a better performance than the traditional one by reasonable choices of the initial value and the S parameter in the im- proved method. Meanwhile the chaotic sequence＇ s characteristic of large addresses is inherited when the chaotic-map is used as the source. This advantage makes this improved code very suitable for the multiple access application in communication system.
文摘With the development of economy and society,China’s comprehensive national strength has been continuously enhanced and its international influence has been increasing.China is shouldering more international responsibilities and obligations to make greater contributions to building a community of shared future for mankind by“always being a builder of world peace,a contributor to global development,and a defender of the international order”.In March 2015,President Xi Jinping put forward the concept of the Belt and Road Initiative,which not only pointed out the way for Chinese social organizations to participate in international affairs,but also opened up unprecedented opportunities for Chinese social organizations to further participate in global governance.
文摘Predicting of repair and maintenance （R＆M） costs of tractors in any mechanized farm is necessary for owners and managers to obtain information on overall costs and to control financial balance and production economy. In this context a study was conducted to predict accumulated R＆M costs （Y） of two-wheel drive （2WD） tractors based on accumulated usage hours （X） in Misagh-e-Sabz Agribusiness Company in Iran. Recorded data of the company were used to determine regression models for predicting accumulated R＆M costs （as percentage of initial purchase price） based on accumulated usage hours. The statistical results of the study indicated that in order to predict accumulated R＆M costs of 2WD tractors with accumulated usage hours of 2260 h or less the power regression model Y=0.013 （X/100）1.677 with R2=0.976, and to predict accumulated R＆M costs of 2WD tractors with accumulated usage hours of 2260 h or more the polynomial regression model Y=0.004 （X/100）2-0.181 （X/1 00）＋4.373 with R2=0.998 can be strongly suggested.
文摘This study mainly concerns a motion model and the main control algorithm of two-wheel self-balancing vehicle models.Details of the critical parameters fetching and output value of two-wheel self-balancing vehicle models are introduced,including those concerning balance control,speed control and direction control.An improved cascade coupling control scheme is proposed for two-wheel vehicles,based on a proportional-integral-derivative(PID)control algorithm.Moreover,a thorough comparison between a classic control system and the improved system is provided,and all aspects thereof are analyzed.It is determined that the control performance of the two-wheel self-balancing vehicle system based on the PID control algorithm is reliable,enabling the vehicle body to maintain balance while moving smoothly along a road at a fast average speed with better practical per-formance.
基金This work was supported in part by the National Natural Science Foundation of China(No.51877089)。
文摘Bipolar medium-voltage DC(MVDC)and lowvoltage DC(LVDC)grids have the advantages of flexible integration of distributed renewable-energy generation and reliable power supply.In order to achieve voltage conversion,power transfer,and electrical isolation for bipolar MVDC and LVDC grids,a high-power DC-DC converter is essential.Therefore,this paper proposes an isolated bipolar modular multilevel DCDC converter(BiMMDC)with power self-balancing capability for interconnection of MVDC and LVDC grids.The proposed BiMMDC consists of two series connected MMCs in the MV stage to configure a bipolar MVDC interface,and interleaved converters combined with a dual-transformer are designed in the LV stage to configure the bipolar LVDC interface and to provide a self-balancing capability.Equivalent circuits of two series-connected MMCs and a dual-transformer with interleaved converters are derived.After that,operation principles of the proposed BiMMDC are introduced,considering balanced/unbalanced power transfer of bipolar LVDC grid and monopolar shortcircuit or open-circuit faults at MVDC grid.The control scheme is also presented for the proposed BiMMDC under different operating conditions.Finally,a Matlab simulation and controller hardware-in-the-loop(CHIL)evaluation results are provided to validate the feasibility and effectiveness of the proposed typology and its operating performance.
文摘This paper presents a comprehensive techno-economic and environmental impact analysis of electric two-wheeler batteries in India.The technical comparison reveals that sodium-ion(Na-ion)and lithium-ion(Li-ion)batteries outperform lead-acid batteries in various parameters,with Na-ion and Li-ion batteries exhibiting higher energy densities,higher power densities,longer cycle lives,faster charge rates,better compactness,lighter weight and lower self-discharge rates.In economic comparison,Na-ion batteries were found to be~12-14%more expensive than Li-ion batteries.However,the longer lifespans and higher energy densities of Na-ion and Li-ion batteries can offset their higher costs through improved performance and long-term savings.Lead-acid batteries have the highest environmental impact,while Li-ion batteries demonstrate better environmental performance and potential for recycling.Na-ion batteries offer promising environmental advantages with their abundance,lower cost and lower toxic and hazardous material content.Efficient recycling processes can further enhance the environmental benefits of Na-ion batteries.Overall,this research examines the potential of Na-ion batteries as a cheaper alternative to Li-ion batteries,considering India’s abundant sodium resources in regions such as Rajasthan,Chhattisgarh,Jharkhand and others.
文摘Time effect of wet drilling pile is investigated through the static load experiment on pile No. 22 of Guanhe Bridge. Post-grouting under pile tip is adopted in the project. To study the bearing performance of the pile, the self-balanced method is used and two load cells are assembled in the pile body. The experiments are carried out before and after post-grouting. The upper part of the pile is not influenced by post-grouting under the pile tip. Experimental results of the upper part of the pile show that the bearing capacity and the rigidity of wet drilling pile increase with time passing on. Analysis results show the time effect of wet drilling pile is influenced by many factors, such as alteration of stress field around pile, characteristics of soil around pile, variety of mud cake, and property of residue under pile tip.
基金Supported by National Natural Science Foundation of China (No. 50878066)the National Key Technology R&D Program in the 11th Five-Year Plan of China (No. 2006BAJ01B02)the Key Technologies R&D Program of Heilongjiang Province, China (No. GB02C204)
文摘This paper presents the design, analysis and experimental study of a loading system for heavy-duty nodes test based on a large-scale multi-directional in-plane loading device, which has been used in a full-scale heavy-duty support node test. Test loads of the support reached 6 567 kN with multi-directional loading requirements, which outrange the capacity of the available loading devices. Through the reinforcement of a large-scale multi-directional inplane loading device, the innovative design of a self-balanced load transferring device, and other arrangement considerations of the loading system, the test was implemented and the loading capacity of the ring was considerably enlarged. Due to the heavy loading requirements, some checking computations of the ring and the load transferring device outranged the limit of the Chinese national code "Code for Design of Steel Structures (GB 50017—2003)", thus elastic-plastic finite element (FE) analysis was carried out on the two devices, and also the real-time monitoring on the whole loading systems during experiments to ensure test safety. FE analysis and test results show that the loading system worked elastically during experiments.
文摘This paper presents a novel five degrees of freedom (DOF) two-wheeled robotic machine (TWRM) that delivers solutions for both industrial and service robotic applications by enlarging the vehicle′s workspace and increasing its flexibility. Designing a two-wheeled robot with five degrees of freedom creates a high challenge for the control, therefore the modelling and design of such robot should be precise with a uniform distribution of mass over the robot and the actuators. By employing the Lagrangian modelling approach, the TWRM′s mathematical model is derived and simulated in Matlab/Simulink?. For stabilizing the system′s highly nonlinear model, two control approaches were developed and implemented: proportional-integral-derivative (PID) and fuzzy logic control (FLC) strategies. Considering multiple scenarios with different initial conditions, the proposed control strategies′ performance has been assessed.
基金the National Natural Science Foundation of China(No.61375086)the Key Project of Science and Technique Plan of Beijing Municipal Commission of Education(No.KZ201210005001)+1 种基金the National Basic Research Program(973)of China(No.2012CB720000)the China Scholarship Council Program(No.201406540017)
