A hybrid machine （HM） as a typical mechatronic device, is a useful tool to generate smooth motion, and combines the motions of a large constant speed motor with a small servo motor by means of a mechnical linkage me...A hybrid machine （HM） as a typical mechatronic device, is a useful tool to generate smooth motion, and combines the motions of a large constant speed motor with a small servo motor by means of a mechnical linkage mechanism, in order to provide a powerful programmable drive system. To achieve design objectives, a control system is required. To design a better control system and analyze the performance of an HM, a dynamic model is necessary. This paper first develops a dynamic model of an HM with a five-bar mechanism using a Lagrangian formulation. Then, several important properties which are very useful in system analysis, and control system design, are presented. Based on the developed dynamic model, two control approaches, computed torque, and combined computed torque and slide mode control, are adopted to control the HM system. Simulation results demonstrate the control performance and limitations of each control approach.展开更多
With the expansion of herbal medicine （HM） market, the issue on how to apply up-to- date analytical tools on qualitative analysis of HMs to assure their quality, safety and efficacy has been arousing great attention...With the expansion of herbal medicine （HM） market, the issue on how to apply up-to- date analytical tools on qualitative analysis of HMs to assure their quality, safety and efficacy has been arousing great attention. Due to its inherent characteristics of accurate mass measurements and multiple stages analysis, the integrated strategy of liquid chromatography （LC） coupled with time-of-flight mass spectrometry （TOF-MS） and ion trap mass spectrometry （IT-MS） is well-suited to be performed as qualitative analysis tool in this field. The purpose of this review is to provide an overview on the potential of this integrated strategy, including the review of general features of LC-IT-MS and LC-TOF-MS, the advantages of their combination, the common procedures for structure elucidation, the potential of LC-hybrid-IT-TOF/MS and also the summary and discussion of the applications of the integrated strategy for HM qualitative analysis （2006-2011）. The advantages and future developments of LC coupled with IT and TOF-MS are highlighted.展开更多
The deformation and failure of soft rock affected by hydro-mechanical（HM） effect are one of the most concerns in geotechnical engineering, which are basically attributed to the grain sliding of soft rock. This study...The deformation and failure of soft rock affected by hydro-mechanical（HM） effect are one of the most concerns in geotechnical engineering, which are basically attributed to the grain sliding of soft rock. This study tried to develop a dissolution-diffusion sliding model for the typical red bed soft rock in South China. Based on hydration film, mineral dissolution and diffusion theory, and geochemical thermodynamics, a dissolution-diffusion sliding model with the HM effect was established to account for the sliding rate. Combined with the digital image processing technology, the relationship between the grain size of soft rock and the amplitude of sliding surface was presented. An equation for the strain rate of soft rocks under steady state was also derived. The reliability of the dissolution-diffusion sliding model was verified by triaxial creep tests on the soft rock with the HM coupling effect and by the relationship between the inversion average disjoining pressure and the average thickness of the hydration film. The results showed that the sliding rate of the soft rock grains was affected significantly by the waviness of sliding surface, the shear stress, and the average thickness of hydration film. The average grain size is essential for controlling the steady-state creep rate of soft rock. This study provides a new idea for investigating the deformation and failure of soft rock with the HM effect.展开更多
Half-metallic ferromagnetism,mechanical as well as thermoelectric properties for rare earth-based spinels MgHo_(2)Z_(4)(Z=S,Se)were investigated using density functional theory(DFT).Structural optimization was done wi...Half-metallic ferromagnetism,mechanical as well as thermoelectric properties for rare earth-based spinels MgHo_(2)Z_(4)(Z=S,Se)were investigated using density functional theory(DFT).Structural optimization was done with Perdew-Burke-Ehrenzorf(PBE)sol-generalized gradient approximation(GGA)to calculate the lattice constant of both spinels comparable to experimental data.In addition,Born stability criteria and negative formation energy show that our studied spinels are also structurally and dynamically stable in the cubic phase.For ferromagnetic(FM)state stability,we also calculated the energy differences among FM,antiferromagnetic(AFM),and non-magnetic(NM)states.Additionally,Curie temperatures of ferromagnetic phases were also estimated.We used Trans-Blaha improved BeckeJohnson(TB-mBJ)potential functional for electronics as well as magnetic characteristics,which lead to the consistent explanation of half-metallic ferromagnetism,representing the whole band-occupancy in material with exact detail of density of states(DOS).The stable FM state was examined in spinels due to the exchange splitting of Ho cation consisting of p-d hybridizations compatible with the result achieved for electronics band structure and DOS.Further,spin magnetic moment was explained in terms of anion,cation,and sharing charge on studied spinels.In addition,the calculated thermoelectric properties clearly show that operation range of these systems may be utilized by future experimental works for identifying the potential applications of these systems.展开更多
In this paper, a modelling benchmark exercise from the DECOVALEX-2011 project is presented. The bench- mark is based on the performance and results of a laboratory drying test and of the ventilation experiment （VE） ...In this paper, a modelling benchmark exercise from the DECOVALEX-2011 project is presented. The bench- mark is based on the performance and results of a laboratory drying test and of the ventilation experiment （VE） carried out in the Mont Terri Underground Rock Laboratory （URL）. Both tests involve Opalinus clay. The work aims at the identification, understanding and quantification of mechanisms taking place during the ventilation of a gallery in argillaceous host rocks on one hand and at investigating the capacity of different codes and individuals to reproduce these processes on the other hand. The 4-year in situ VE took place in a 1.3 m diameter unlined tunnel and included two resaturation-desaturation cycles. The test area was equipped with over one hundred sensors （including the global water mass balance of the system, relative humidity （RH）, water content, liquid pressure, relative displacement and concentration of some chemical species） to monitor the rock behaviour during ventilation. The laboratory drying experiment, carried out before the VE, was designed to mimic the in situ conditions. The work was organized in a progressive manner in terms of complexity of the computations to be performed, geared towards the full hydro-mechano-chemical （HMC） understanding of the VE, the final objective. The main results from the modelling work reported herein are that the response of the host rock to ventilation in argillaceous rocks is mainly governed by hydraulic processes （advective Darcy flow and non-advective vapour diffu- sion） and that the hydro-mechanical （TM） back coupling is weak. A ventilation experiment may thus be regarded as a large scale-long time pump test and it is used to determine the hydraulic conductivity of the rock mass.展开更多
A new hydraulic actuator-hydraulic muscle （HM） is described, and the actuator＇s features and applications are analyzed, then a position servocontrol system in which HM is main actuator is set up. The mathematical m...A new hydraulic actuator-hydraulic muscle （HM） is described, and the actuator＇s features and applications are analyzed, then a position servocontrol system in which HM is main actuator is set up. The mathematical model of the system is built up and several control strategies are discussed. Based on the mathematical model, simulation research and experimental investigation with subsection PID control, neural network self-adaptive PID control and single neuron self-adaptive PID control adopted respectively are carried out, and the results indicate that compared with PID control, neural network self-adaptive PID control and single neuron self-adaptive PID control don＇t need controlled system＇s accurate model and have fast response, high control accuracy and strong robustness, they are very suitable for HM position servo control system.展开更多
At Mont Terri Underground Research Laboratory （URL） Switzerland, a specific experiment has been per- formed in a tunnel, in order to investigate the hydro-mechano-chemical （HMC） perturbations induced in the argill...At Mont Terri Underground Research Laboratory （URL） Switzerland, a specific experiment has been per- formed in a tunnel, in order to investigate the hydro-mechano-chemical （HMC） perturbations induced in the argillaceous formation by forced ventilation. This experiment has been selected in the international project DECOVALEX to be used for process model development and validation. The numerical simula- tion of the geochemical response to the ventilation experiment （VE） is the object of the present paper, focusing on the transport of chloride as a conservative species and sulphate as a reactive species. Uti- lising the validated hydro-mechanical （HM） results from earlier steps of the DECOVALEX task, reactive and non-reactive transport models, incorporating the current understanding of the geochemistry at the site, were successfully constructed for the whole experimental period. The associated parametric and process uncertainty analyses clearly demonstrate that the basic HM understanding must be sound. How- ever, to demonstrate this degree of robustness, the explicit inclusion of process representations of water desaturation, liquid vaporisation, species exclusion porosity, and redox processes, is required.展开更多
基金The work was supported in part by the EPSRC research council(No. GR/M29108/01).
文摘A hybrid machine （HM） as a typical mechatronic device, is a useful tool to generate smooth motion, and combines the motions of a large constant speed motor with a small servo motor by means of a mechnical linkage mechanism, in order to provide a powerful programmable drive system. To achieve design objectives, a control system is required. To design a better control system and analyze the performance of an HM, a dynamic model is necessary. This paper first develops a dynamic model of an HM with a five-bar mechanism using a Lagrangian formulation. Then, several important properties which are very useful in system analysis, and control system design, are presented. Based on the developed dynamic model, two control approaches, computed torque, and combined computed torque and slide mode control, are adopted to control the HM system. Simulation results demonstrate the control performance and limitations of each control approach.
文摘With the expansion of herbal medicine （HM） market, the issue on how to apply up-to- date analytical tools on qualitative analysis of HMs to assure their quality, safety and efficacy has been arousing great attention. Due to its inherent characteristics of accurate mass measurements and multiple stages analysis, the integrated strategy of liquid chromatography （LC） coupled with time-of-flight mass spectrometry （TOF-MS） and ion trap mass spectrometry （IT-MS） is well-suited to be performed as qualitative analysis tool in this field. The purpose of this review is to provide an overview on the potential of this integrated strategy, including the review of general features of LC-IT-MS and LC-TOF-MS, the advantages of their combination, the common procedures for structure elucidation, the potential of LC-hybrid-IT-TOF/MS and also the summary and discussion of the applications of the integrated strategy for HM qualitative analysis （2006-2011）. The advantages and future developments of LC coupled with IT and TOF-MS are highlighted.
基金supported by the National Key Research and Development Project (Grant No. SQ2017YFSF060085)the National Natural Science Foundation of China (NSFC)(Grant Nos. 41472257, 41530638, and 41372302)+1 种基金the Special Fund Key Project of Applied Science and Technology Research and Development in Guangdong (Grant No. 2016B010124007)the Special Support Program for High Level Talents in Guangdong (Grant No. 2015TQ01Z344)
文摘The deformation and failure of soft rock affected by hydro-mechanical（HM） effect are one of the most concerns in geotechnical engineering, which are basically attributed to the grain sliding of soft rock. This study tried to develop a dissolution-diffusion sliding model for the typical red bed soft rock in South China. Based on hydration film, mineral dissolution and diffusion theory, and geochemical thermodynamics, a dissolution-diffusion sliding model with the HM effect was established to account for the sliding rate. Combined with the digital image processing technology, the relationship between the grain size of soft rock and the amplitude of sliding surface was presented. An equation for the strain rate of soft rocks under steady state was also derived. The reliability of the dissolution-diffusion sliding model was verified by triaxial creep tests on the soft rock with the HM coupling effect and by the relationship between the inversion average disjoining pressure and the average thickness of the hydration film. The results showed that the sliding rate of the soft rock grains was affected significantly by the waviness of sliding surface, the shear stress, and the average thickness of hydration film. The average grain size is essential for controlling the steady-state creep rate of soft rock. This study provides a new idea for investigating the deformation and failure of soft rock with the HM effect.
基金the Deanship of Scientific Research at King Khalid University for funding this work through the small Groups Project under grant number(R.G.P.1/153/43)。
文摘Half-metallic ferromagnetism,mechanical as well as thermoelectric properties for rare earth-based spinels MgHo_(2)Z_(4)(Z=S,Se)were investigated using density functional theory(DFT).Structural optimization was done with Perdew-Burke-Ehrenzorf(PBE)sol-generalized gradient approximation(GGA)to calculate the lattice constant of both spinels comparable to experimental data.In addition,Born stability criteria and negative formation energy show that our studied spinels are also structurally and dynamically stable in the cubic phase.For ferromagnetic(FM)state stability,we also calculated the energy differences among FM,antiferromagnetic(AFM),and non-magnetic(NM)states.Additionally,Curie temperatures of ferromagnetic phases were also estimated.We used Trans-Blaha improved BeckeJohnson(TB-mBJ)potential functional for electronics as well as magnetic characteristics,which lead to the consistent explanation of half-metallic ferromagnetism,representing the whole band-occupancy in material with exact detail of density of states(DOS).The stable FM state was examined in spinels due to the exchange splitting of Ho cation consisting of p-d hybridizations compatible with the result achieved for electronics band structure and DOS.Further,spin magnetic moment was explained in terms of anion,cation,and sharing charge on studied spinels.In addition,the calculated thermoelectric properties clearly show that operation range of these systems may be utilized by future experimental works for identifying the potential applications of these systems.
基金conducted within the context of the international DECOVALEX Projectthe Funding Organizations who supported the workthe EC project NF-PRO (Contract number FI6W-CT-2003-02389) under the coor-dination of ENRESA (Empresa Nacional de Residuos Radiactivos)
文摘In this paper, a modelling benchmark exercise from the DECOVALEX-2011 project is presented. The bench- mark is based on the performance and results of a laboratory drying test and of the ventilation experiment （VE） carried out in the Mont Terri Underground Rock Laboratory （URL）. Both tests involve Opalinus clay. The work aims at the identification, understanding and quantification of mechanisms taking place during the ventilation of a gallery in argillaceous host rocks on one hand and at investigating the capacity of different codes and individuals to reproduce these processes on the other hand. The 4-year in situ VE took place in a 1.3 m diameter unlined tunnel and included two resaturation-desaturation cycles. The test area was equipped with over one hundred sensors （including the global water mass balance of the system, relative humidity （RH）, water content, liquid pressure, relative displacement and concentration of some chemical species） to monitor the rock behaviour during ventilation. The laboratory drying experiment, carried out before the VE, was designed to mimic the in situ conditions. The work was organized in a progressive manner in terms of complexity of the computations to be performed, geared towards the full hydro-mechano-chemical （HMC） understanding of the VE, the final objective. The main results from the modelling work reported herein are that the response of the host rock to ventilation in argillaceous rocks is mainly governed by hydraulic processes （advective Darcy flow and non-advective vapour diffu- sion） and that the hydro-mechanical （TM） back coupling is weak. A ventilation experiment may thus be regarded as a large scale-long time pump test and it is used to determine the hydraulic conductivity of the rock mass.
文摘A new hydraulic actuator-hydraulic muscle （HM） is described, and the actuator＇s features and applications are analyzed, then a position servocontrol system in which HM is main actuator is set up. The mathematical model of the system is built up and several control strategies are discussed. Based on the mathematical model, simulation research and experimental investigation with subsection PID control, neural network self-adaptive PID control and single neuron self-adaptive PID control adopted respectively are carried out, and the results indicate that compared with PID control, neural network self-adaptive PID control and single neuron self-adaptive PID control don＇t need controlled system＇s accurate model and have fast response, high control accuracy and strong robustness, they are very suitable for HM position servo control system.
基金conducted within thecontext of the international DECOVALEX Project (DEmonstrationof COupled models and their VALidation against EXperiments)Quintessa Ltd. and University of Edinburgh were supported by the Nuclear Decommissioning Authority (NDA), UK+2 种基金CEA was supported by Institut de Radioprotection et de S retéNucléaire (IRSN)The Japan Atomic Energy Agency (JAEA) and the Institute of Rock and Soil Mechanics, Chinese Academy of Sciences(CAS) funded DECOVALEX and participated in the workthe framework of the EC project NF-PRO(Contract number FI6W-CT-2003-02389) under the coordination of ENRESA (Empresa Nacional de Residuos Radiactivos)
文摘At Mont Terri Underground Research Laboratory （URL） Switzerland, a specific experiment has been per- formed in a tunnel, in order to investigate the hydro-mechano-chemical （HMC） perturbations induced in the argillaceous formation by forced ventilation. This experiment has been selected in the international project DECOVALEX to be used for process model development and validation. The numerical simula- tion of the geochemical response to the ventilation experiment （VE） is the object of the present paper, focusing on the transport of chloride as a conservative species and sulphate as a reactive species. Uti- lising the validated hydro-mechanical （HM） results from earlier steps of the DECOVALEX task, reactive and non-reactive transport models, incorporating the current understanding of the geochemistry at the site, were successfully constructed for the whole experimental period. The associated parametric and process uncertainty analyses clearly demonstrate that the basic HM understanding must be sound. How- ever, to demonstrate this degree of robustness, the explicit inclusion of process representations of water desaturation, liquid vaporisation, species exclusion porosity, and redox processes, is required.
