作者希望对 Mr. 高耀洁在执行本文所报道的实验方面的帮助表示感谢。这项工作得到了中国国家自然科学基金 (No. 61673117) 的部分支持。

1. 机器的构造 <ol> <li> 按图示装配机箱, 使用适当的紧固件确保机械部件的安全。( 图 1 ) 
	注意: 底盘, 包括底板, 马达, 轮子等, 是机器人的主要组成部分, 负责其运动。因此, 在装配过程中, 保持支架平直. </li>
	<li> 锡导线引线和正负电极。焊料两个导线通向电机的两端, 将红色引线连接到正极, 黑色引出负极. </li>
	<li> 装配轴套、马达和车轮。
	<ol> <li> 将马达连接到轴套, 并用螺钉将其固定. </li>
		<li> 将轴套插入轮毂中心. </li>
		<li> 将已完成的结构安装到机箱上. </li>
	</ol> </li> <li> 在机箱中心钻两个直径为3毫米的孔, 以允许安装马达驱动模块。将马达连接到马达驱动模块. </li>
	<li> 从机箱的左右边缘钻一个1厘米的孔, 以便安装底部的红外线传感器托架. </li>
	<li> 将两个紧固件安装到机箱两侧的中心. 
	注意: 为确保红外线传感器正常运行, 请确保连接件与机箱垂直. </li>
	<li> 钻孔, 直径18毫米, 通过两个结构元件安装传感器。( 图 2A ) </li>
	<li> 将马达驱动器安装到机箱底部。( 图 2B )安装一个红外传感器, 分别指向机箱的四方向。( 图 2C ) </li>
	<li> 以对称的方向安装转向器。由于舵机操作所产生的大扭矩, 确保螺栓安装在提供牢固和防渗接头的方式上. </li>
	<li> 在计算机中心安装四红外线传感器. </li>
	<li> 将 14.8 V 电源置于机器中心, 并将单片机单元 (MCU) 粘贴到电池组上. </li>
	<li> 将四量程传感器粘贴到机器的上部。将每个传感器和地面之间的角度调整到60和 #176;, 以确保相对于工作台的检测精度. </li>
	<li> 安装双轴倾斜传感器, 用于检测计算机无法到达工作区域中的目标时的情况. </li>
	<li> 使用螺丝刀将机械手连接到机器的前面。( 图 3 ) </li>
</ol> 2。调试转向引擎和驱动程序模块 <ol> <li> 双击打开调试软件 (例如, 机器人伺服 Terminal2010)。使用通用串行总线 (USB) 转换电缆将计算机连接到调试板。( 图 4 ) </li>
	<li> 将转向引擎和 #39 的波特率设置为9600位/秒, 速率限制为 521 rad/分钟, 角度限制为300和 #176; 工作接口中的电压限制为9.6 伏. </li>
	<li> 设置机器人转向装置的工作方式 #34; 转向引擎模式. #34; </li>
	<li> 应用异步半双工通信作为控制器和转向引擎之间的连接。这样, 控制器就可以从单一的通用异步收发器 (UART) 接口控制255以上的转向引擎。( 图 5 ) 
	警告: 最多可能有6台转向引擎连接到一根导线。太多的转向引擎将导致过热和大电压下降, 导致异常行为, 如复位和异常数据通信等 ( 图 6 ) </li> <li> 应用异步半双工通信作为控制器和马达驱动模块之间的连接。( 图 7 ) </li>
	<li> 设置两个驱动模块和四转向引擎的 ID 号。ID3 和 ID4 为将来的更新目的保留为空白。( 图 8 ) 
	注: ID1: 向左驱动模块;ID2: 向右驱动模块;ID5: 左前转向引擎;ID6: 右转向引擎;ID7: 左后方转向引擎;ID8: right-rear 转向引擎. </li>
	<li> 将转向引擎一个接一个地层叠, 并将级联连接到控制器. </li>
	<li> 将传感器连接到各自的控制器接口。应该注意的是, 连接器带有三角形标记的传感器是地面 (地线). 
	注: AD1: 前红外光电传感器在下侧;AD2: 右下侧红外光电传感器;AD3: 背面红外光电传感器AD4: 左红外线传感器在下侧;AD5: 前红外距离测量传感器;AD6: 右红外线测距传感器;AD7: 后红外测量传感器;AD8: 左红外线测距传感器;AD9: 左前摔红外光电传感器;AD10: 右摔红外光电传感器;AD11: right-rear 摔红外光电传感器;AD12: 左后方摔红外光电传感器. </li>
</ol> 3。调试传感器 <ol> <li> 旋转红外传感器尾部的调节旋钮以调整传感器的检测范围。当机器人处于工作台中心位置时, 前四红外传感器的逻辑电平为1。当机器移动到工作台的边缘时, 对应端的红外线传感器的逻辑电平将为0。( 图 9A ) 
	注意: 通过分析红外传感器的逻辑电平, 机器人可以确定其在工作台中的位置。例如, 如果左侧和前端传感器的逻辑级别为 0, 则该机器人必须位于工作表的左上角区域. </li>
	<li> 将距离传感器的测量值与其基线值进行比较以进行校准。( 图 9B ) 
	注意: 距离传感器是模拟传感器。随着距离的变化, 传感器和 #39 的信号强度反馈和相应的测量值也会有所不同。测量值将通过数字传感器中继到主机, 以便机器人能够识别周围环境的变化. </li>
	<li> 调试倾角传感器。
	<ol> <li> 水平放置倾斜角度传感器并记录其测量值. </li>
		<li> 将传感器倾斜到两个不同的方向, 并记录其测量值。如果测量值在误差范围内, 则可以将传感器视为正常操作. </li>
	</ol> </li> </ol> 4。控制方案 <ol> <li> 基于直流电机电压平衡方程、磁链方程和转矩平衡方程, 构造直流电机的仿真模型。
	<ol> <li> 建立由 <img alt="Equation 1" src="/files/ftp_upload/56422/56422eq1.jpg"/> 所给出的电压平衡方程, 其中 u d 是直接轴电压, u q 是正交轴电压。 R d 和 r q 分别表示直接轴电阻和正交轴电阻。<img alt="Equation 2" src="/files/ftp_upload/56422/56422eq2.jpg"/>, <img alt="Equation 3" src="/files/ftp_upload/56422/56422eq3.jpg"/>, <img alt="Equation 4" src="/files/ftp_upload/56422/56422eq4.jpg"/>, <img alt="Equation 5" src="/files/ftp_upload/56422/56422eq5.jpg"/>, 表示直接轴电流、直轴电流、直轴通量和正交轴通量. </li>
		<li> 建立磁链方程由 它 = "等式 6" src = "/文件/ftp_upload/56422/56422eq6. jpg"/>> where <img alt="Equation 7" src="/files/ftp_upload/56422/56422eq7.jpg"/> 和 <img alt="Equation 8" src="/files/ftp_upload/56422/56422eq8.jpg"/> 表示系数分别为直轴自感和正交轴自感。<img alt="Equation 9" src="/files/ftp_upload/56422/56422eq9.jpg"/> and <img alt="Equation 10" src="/files/ftp_upload/56422/56422eq10.jpg"/> 是互感系数。<img alt="Equation 11" src="/files/ftp_upload/56422/56422eq11.jpg"/>, <img alt="Equation 12" src="/files/ftp_upload/56422/56422eq12.jpg"/> 表示电磁转矩和负载扭矩. </li>
		<li> 建立计算的扭矩平衡方程式 <img alt="Equation 13" src="/files/ftp_upload/56422/56422eq13.jpg"/>. </li>
		<li> 建立直流电机仿真模型。( 图 10 ) </li>
	</ol> </li> <li> 对直流电机应用双闭环控制。利用速度调节器的输出作为电流调节器的输入来调节电机和 #39 的扭矩和电流. 
	注: 当前调节系统结构示意图。( 图 11 ) 
	PI 电流调节器的传递函数显示为 <img alt="Equation 14" src="/files/ftp_upload/56422/56422eq14.jpg"/>, 其中 <img alt="Equation 15" src="/files/ftp_upload/56422/56422eq15.jpg"/> 的比例系数当前调节器和 <img alt="Equation 16" src="/files/ftp_upload/56422/56422eq16.jpg"/> 是当前调节器的提前期常数。它可以通过尺度系数 <img alt="Equation 17" src="/files/ftp_upload/56422/56422eq17.jpg"/>, 和积分系数 <img alt="Equation 18" src="/files/ftp_upload/56422/56422eq18.jpg"/> 得到。
	<ol> <li> 应用直流电机的双闭环控制。( 图 12 ) </li>
	</ol> </li> <li> 应用 DC 马达的四象限运动控制。( 图 13 )
	<ol> <li> 利用 H 桥驱动电路, 通过调制金属氧化物-半导体场效应晶体管 (MOSFET) 的开关来实现直流电机的四象限运动。( 图 14 ) 
		注: 当 Q1 和 Q4 开启时, 电机处于正向电状态和第一象限运行状态。当 Q3 和 Q4 开启时, 电机处于能量制动状态和第二象限运行状态。当 Q2 和 Q3 开启时, 电机处于反向电状态和第三象限运动状态。当 Q1 和 Q2 打开时, 马达处于反向能量制动状态和第四象限运动状态. </li>
	</ol> </li> <li> 应用脉宽调制 (PWM) 来调节直流电机的速度。在直流电机电源的电压基本保持不变的情况下, 对电机电枢施加的直流电压脉冲宽度 (占空比) 进行控制, 从而调节平均值和转速输入电机的电枢电压. </li>
</ol> 5。编写程序 <ol> <li> 使用 USB 下载行将由 KEIL5 生成的二进制文件导入到控制器中. </li>
	<li> 选择要执行的程序. </li>
</ol> 6。应用程序方案 <ol> <li> 应用颜色识别对工厂中的货物进行分类。( 图 15 )
	<ol> <li> 使用光学摄像机来收集图像, 并使用已弹起的 two-dimensional 阵列的编号验证扫描的颜色. </li>
		<li> 用机械臂抬起对象. </li>
		<li> 使用机器人的摄像头和驱动马达发出命令将对象传送到指定的位置 </li>
	</ol> </li> <li> 快速搜索以清除指定区域。( 图 16 )
	<ol> <li> 使用机器人上的四光学传感器来检测周围障碍物的位置. </li>
		<li> 命令舵机在指定区域内提起机械铲和清除障碍物. </li>
		<li> 使用遗传算法确定最有效的搜索路径. </li>
	</ol> </li> <li> 使用自我防止从工作台中掉下来将工人与机器工作区分开, 并确保工人的安全。
	<ol> <li> 根据识别工作台和地面的四上部光学传感器之间的高度差异来修改信号. </li>
		<li> 分析可变信号以确定工作台边缘的位置. </li>
		<li> 命令计算机避免工作台的边缘. </li>
	</ol>
	</li>
</ol>

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作者没有什么可透露的。

本文设计了一种可以自主构建的智能机器人。通过将多个软件程序与硬件集成, 实现了所提出的智能搜索算法和自主识别。在协议中, 我们介绍了配置硬件和调试智能机器人的基本方法, 它可以帮助用户设计适合自己机器人的机械结构。然而, 在实际运行过程中, 必须注意结构的稳定性、工作范围、自由度和空间利用率, 以确保这些参数符合要求。合理的机械结构保证了机器人的高精度、高灵活性和?...

机器人是复杂的, 智能机器, 结合了一些学科的知识, 包括机械, 电子学, 控制, 计算机, 传感器和人工智能1,2。机器人在工作场所, 特别是在工业生产中, 越来越多地帮助甚至取代人类, 这是由于机器人在执行重复或危险任务时所拥有的优势。在目前的研究中, 智能机器人协议的设计是基于闭环控制策略, 特别是基于遗传算法的路径规划。此外, 功能模块已被严格划分为3,4, 为未来的优化工作打下了坚实的基础, 使机器人具有很强的升级能力。
机器人平台的模块化实现主要基于以下方法: 电机控制模块的多维组合控制策略5,6, 基于遗传算法的智能探测在优化算法模块中。
我们采用双闭环控制的直流电机和四象限电机操作在电机控制模块。双闭环速度控制意味着速度调节器的输出作为电流调节器的输入, 允许它控制电机的电流和扭矩。该系统的优点是可以根据给定速度和实际转速的不同, 对电机的转矩进行 real-time 控制。当给定的和实际的速度之间的差异是相对较大的, 电机的扭矩增加和速度的变化更快地驱动电机的速度向给定的价值尽快, 这使得快速调速7,8,9. 反之, 当速度相对接近给定值时, 它可以自动减小电机的转矩, 以避免速度过快, 允许速度相对快速地实现给定的值, 没有错误6,10. 由于电流回路的等效时间常数相对较小, 四象限电机11、12可以更快地响应, 以抑制系统受干扰的影响。外部干扰。这使得它能够提高系统的稳定性和抗干扰能力。
基于 MATLAB 的仿真运行结果, 我们选择了具有最高效率的遗传智能优化算法。遗传算法是一种基于遗传学中自然选择理论的随机并行搜索算法。它构成了在没有任何初始信息的情况下找到全局最优解的有效方法。它将问题的解决方案视为一个群体, 从而通过连续选择、交叉、变异和其他遗传操作来提高解决方案的质量。在智能机器人的路径规划方面, 由于初始信息不足、环境复杂、非线性等原因, 造成了很高的难度。遗传算法在求解非线性问题时具有全局优化能力、较强的适应性和鲁棒性, 能够较好地解决路径规划问题;对这个问题没有具体的限制;计算过程简单;并且对于搜索空间没有特殊要求13,14。

<table border="1" fo:keep-together.within-page="1" fo:keep-with-next.within-page="always">
	<tbody>
		<tr>
			<td>structural parts</td>
			<td>UPTECMONYH HAR</td>
			<td>L1-1</td>
			<td></td>
		</tr>
		<tr>
			<td>structural parts</td>
			<td>UPTECMONYH HAR</td>
			<td>L2-1</td>
			<td></td>
		</tr>
		<tr>
			<td>structural parts</td>
			<td>UPTECMONYH HAR</td>
			<td>L3-1</td>
			<td></td>
		</tr>
		<tr>
			<td>structural parts</td>
			<td>UPTECMONYH HAR</td>
			<td>L4-1</td>
			<td></td>
		</tr>
		<tr>
			<td>structural parts</td>
			<td>UPTECMONYH HAR</td>
			<td>L5-1</td>
			<td></td>
		</tr>
		<tr>
			<td>structural parts</td>
			<td>UPTECMONYH HAR</td>
			<td>L5-2</td>
			<td></td>
		</tr>
		<tr>
			<td>structural parts</td>
			<td>UPTECMONYH HAR</td>
			<td>U3A</td>
			<td></td>
		</tr>
		<tr>
			<td>structural parts</td>
			<td>UPTECMONYH HAR</td>
			<td>U3B</td>
			<td></td>
		</tr>
		<tr>
			<td>structural parts</td>
			<td>UPTECMONYH HAR</td>
			<td>U3C</td>
			<td></td>
		</tr>
		<tr>
			<td>structural parts</td>
			<td>UPTECMONYH HAR</td>
			<td>U3F</td>
			<td></td>
		</tr>
		<tr>
			<td>structural parts</td>
			<td>UPTECMONYH HAR</td>
			<td>U3G</td>
			<td></td>
		</tr>
		<tr>
			<td>structural parts</td>
			<td>UPTECMONYH HAR</td>
			<td>U3H</td>
			<td></td>
		</tr>
		<tr>
			<td>structural parts</td>
			<td>UPTECMONYH HAR</td>
			<td>U3J</td>
			<td></td>
		</tr>
		<tr>
			<td>structural parts</td>
			<td>UPTECMONYH HAR</td>
			<td>I3</td>
			<td></td>
		</tr>
		<tr>
			<td>structural parts</td>
			<td>UPTECMONYH HAR</td>
			<td>I5</td>
			<td></td>
		</tr>
		<tr>
			<td>structural parts</td>
			<td>UPTECMONYH HAR</td>
			<td>I7</td>
			<td></td>
		</tr>
		<tr>
			<td>structural parts</td>
			<td>UPTECMONYH HAR</td>
			<td>CGJ</td>
			<td></td>
		</tr>
		<tr>
			<td>link component</td>
			<td>UPTECMONYH HAR</td>
			<td>LM1</td>
			<td></td>
		</tr>
		<tr>
			<td>link component</td>
			<td>UPTECMONYH HAR</td>
			<td>LM2</td>
			<td></td>
		</tr>
		<tr>
			<td>link component</td>
			<td>UPTECMONYH HAR</td>
			<td>LM3</td>
			<td></td>
		</tr>
		<tr>
			<td>link component</td>
			<td>UPTECMONYH HAR</td>
			<td>LM4</td>
			<td></td>
		</tr>
		<tr>
			<td>link component</td>
			<td>UPTECMONYH HAR</td>
			<td>LX1</td>
			<td></td>
		</tr>
		<tr>
			<td>link component</td>
			<td>UPTECMONYH HAR</td>
			<td>LX2</td>
			<td></td>
		</tr>
		<tr>
			<td>link component</td>
			<td>UPTECMONYH HAR</td>
			<td>LX3</td>
			<td></td>
		</tr>
		<tr>
			<td>link component</td>
			<td>UPTECMONYH HAR</td>
			<td>LX4</td>
			<td></td>
		</tr>
		<tr>
			<td>Steering gear structure component</td>
			<td>UPTECMONYH HAR</td>
			<td>KD</td>
			<td></td>
		</tr>
		<tr>
			<td>Steering gear structure component</td>
			<td>UPTECMONYH HAR</td>
			<td>DP</td>
			<td></td>
		</tr>
		<tr>
			<td>Infrared sensor</td>
			<td>UPTECMONYH HAR</td>
			<td>E18-B0</td>
			<td>Digital sensor</td>
		</tr>
		<tr>
			<td>Infrared&#160;Range&#160;Finder</td>
			<td>SHARP</td>
			<td>GP2D12</td>
			<td></td>
		</tr>
		<tr>
			<td>Gray level sensor</td>
			<td>SHARP</td>
			<td>GP2Y0A02YK0F</td>
			<td></td>
		</tr>
		<tr>
			<td>proMOTION&#160;CDS</td>
			<td>SHARP</td>
			<td>CDS&#160;5516</td>
			<td>The robot steering gear</td>
		</tr>
		<tr>
			<td>motor drive module</td>
			<td>Risym</td>
			<td>HG7881</td>
			<td></td>
		</tr>
		<tr>
			<td>solder wire</td>
			<td>ELECALL</td>
			<td>63A</td>
			<td></td>
		</tr>
		<tr>
			<td>terminal</td>
			<td>Bright wire</td>
			<td>5264</td>
			<td></td>
		</tr>
		<tr>
			<td>motor</td>
			<td>BX motor</td>
			<td>60JX</td>
			<td></td>
		</tr>
		<tr>
			<td>camera</td>
			<td>Logitech</td>
			<td>C270</td>
			<td></td>
		</tr>
		<tr>
			<td>Drilling machine</td>
			<td>XIN XIANG</td>
			<td>16MM</td>
			<td>Please be careful</td>
		</tr>
		<tr>
			<td>Soldering station</td>
			<td>YIHUA</td>
			<td>8786D</td>
			<td>Be&#160;careful&#160;to&#160;be&#160;burn</td>
		</tr>
		<tr>
			<td>screwdriver</td>
			<td>EXPLOIT</td>
			<td>043003</td>
			<td></td>
		</tr>
		<tr>
			<td>Tweezers</td>
			<td>R`DEER</td>
			<td>RST-12</td>
			<td></td>
		</tr>
	</tbody>
</table>

the modular design and production of an intelligent robot based on a closed-loop control strategy

智能机器人是新一代机器人的一部分, 能够感知周围环境, 规划自己的行动, 最终达到目标。近年来, 对机器人的依赖在日常生活和工业中增加了。本文所提出的协议描述了一个具有智能搜索算法和自主识别功能的搬运机器人的设计与制作。
首先, 对各种工作模块进行机械装配, 完成工作平台的搭建和机械手的安装。然后, 我们设计了一个闭环控制系统和一个四象限电机控制策略, 借助于调试软件, 以及设置转向齿轮的识别 (ID), 波特率和其他工作参数, 以确保机器人达到期望的动态性能和低能耗。然后, 对传感器进行调试, 实现多传感器融合, 准确获取环境信息。最后, 我们实现了相应的算法, 能够识别机器人在给定应用中的功能的成功。
这种方法的优点是它的可靠性和灵活性, 因为用户可以开发各种硬件建设程序, 并利用全面的调试器来实施智能控制策略。这样, 用户就可以根据自己的需要来设置个性化需求, 从而提高效率和鲁棒性。

在双闭环运动控制程序图中, 紫色代表给定的速度信号, 黄色表示控制系统输出的值。图 17清楚地表明双闭环控制系统比开环系统更有效。双闭环系统输出的实际超调量相对较小, 系统的动态性能较好。(图 17)
图 18显示了在不同波长的反射光的影响下机器人的颜...

Watch this Scientific Journal Video about The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy at JoVE.com

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

我们提出了一个关于模块化设计和生产智能机器人的协议, 以帮助科技人员设计基于个人需求和个性化设计的具有特殊生产任务的智能机器人。

基于闭环控制策略的智能机器人模块化设计与制作

Intelligent robots are part of a new generation of robots that are able to sense the surrounding environment, plan their own actions and eventually reach ...

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11.4K 次观看.  Chinese Academy of Sciences. 我们提出了一个关于模块化设计和生产智能机器人的协议, 以帮助科技人员设计基于个人需求和个性化设计的具有特殊生产任务的智能机器人。

视频: The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

SSVEP-based Experimental Procedure for Brain-Robot Interaction with Humanoid Robots

Brain-Robot Interaction (BRI), which provides an innovative communication pathway between human and a robotic device via brain signals, is prospective in helping the disabled in their daily lives. The overall goal of our method is to establish an SSVEP-based experimental procedure by integrating multiple software programs, such as OpenViBE, Choregraph, and Central software as well as user developed programs written in C++ and MATLAB, to enable the study of brain-robot interaction with humanoid robots.
This is achieved by first placing EEG electrodes on a human subject to measure the brain responses through an EEG data acquisition system. A user interface is used to elicit SSVEP responses and to display video feedback in the closed-loop control experiments. The second step is to record the EEG signals of first-time subjects, to analyze their SSVEP features offline, and to train the classifier for each subject. Next, the Online Signal Processor and the Robot Controller are configured for the online control of a humanoid robot. As the final step, the subject completes three specific closed-loop control experiments within different environments to evaluate the brain-robot interaction performance.
The advantage of this approach is its reliability and flexibility because it is developed by integrating multiple software programs. The results show that using this approach, the subject is capable of interacting with the humanoid robot via brain signals. This allows the mind-controlled humanoid robot to perform typical tasks that are popular in robotic research and are helpful in assisting the disabled.

The overall goal of this method is to establish an SSVEP-based experimental procedure by integrating multiple software programs to enable the study of brain-robot interaction with humanoid robots, which is prospective in assisting the sick and elderly as well as performing unsanitary or dangerous jobs.

SSVEP基础实验步骤与人形机器人脑机器人互动

Brain-Robot Interaction (BRI), which provides an innovative communication pathway between human and a robotic device via brain signals, is prospective in ...

科研

工程学

Morphology Control for Fully Printable Organic&#8211;Inorganic Bulk-heterojunction Solar Cells Based on a Ti-alkoxide and Semiconducting Polymer

The photoactive layer of a typical organic thin-film bulk-heterojunction (BHJ) solar cell commonly uses fullerene derivatives as the electron-accepting material. However, fullerene derivatives are air-sensitive; therefore, air-stable material is needed as an alternative. In the present study, we propose and describe the properties of Ti-alkoxide as an alternative electron-accepting material to fullerene derivatives to create highly air-stable BHJ solar cells. It is well-known that controlling the morphology in the photoactive layer, which is constructed with fullerene derivatives as the electron acceptor, is important for obtaining a high overall efficiency through the solvent method. The conventional solvent method is useful for high-solubility materials, such as fullerene derivatives. However, for Ti-alkoxides, the conventional solvent method is insufficient, because they only dissolve in specific solvents. Here, we demonstrate a new approach to morphology control that uses the molecular bulkiness of Ti-alkoxides without the conventional solvent method. That is, this method is one approach to obtain highly efficient, air-stable, organic-inorganic bulk-heterojunction solar cells.

Morphology Control for Fully Printable Organic&amp;#8211;Inorganic Bulk-heterojunction Solar Cells Based on a Ti-alkoxide and Semiconducting Polymer

A method for fully printable, fullerene-free, highly air-stable, bulk-heterojunction solar cells based on Ti alkoxides as the electron acceptor and the electron-donating polymer fabrication is described here. Moreover, a method for controlling the morphology of the photoactive layer through the molecular bulkiness of the Ti-alkoxide units is reported.

基于一个钛醇盐和半导体聚合物为全可印刷有机 - 无机批量异质结太阳能电池形貌控制

The photoactive layer of a typical organic thin-film bulk-heterojunction (BHJ) solar cell commonly uses fullerene derivatives as the electron-accepting ...

Predicting Catalyst Extrudate Breakage Based on the Modulus of Rupture

The mechanical strength of extruded catalysts and their natural or forced breakage by either collision against a surface or by a compressive load in a fixed bed are important phenomena in catalyst technology. The mechanical strength of the catalyst is measured here by its bending strength or flexural strength. This technique is relatively new from the perspective of applying it to commercial catalysts of typical sizes used in the industry. Catalyst breakage by collision against a surface is measured after a fall of the extrudates through the ambient air in a vertical pipe. Quantifying the impact force is done theoretically by applying Newton's second law. Measurement of catalyst breakage due to stress in a fixed bed is done following the standard procedure of the bulk crush strength test. Novel here is the focus on measuring the reduction in the length to diameter ratio of the extrudates as a function of the stress.

Here we present a protocol to measure the modulus of rupture of an extruded catalyst and the breakage of said catalyst extrudates by collision against a surface or by compression in a fixed bed.

基于断裂模量的催化剂挤出断裂预测

The mechanical strength of extruded catalysts and their natural or forced breakage by either collision against a surface or by a compressive load in a ...

A 100 KW Class Applied-field Magnetoplasmadynamic Thruster

Applied-field magnetoplasmadynamic thrusters (AF-MPD thrusters) are hybrid accelerators in which electromagnetic and gas dynamic processes accelerate plasma to high speed; they have considerable potential for future space applications with the significant advantages of high specific impulse and thrust density. In this paper, we present a series of protocols for designing and manufacturing a 100 kW class of AF-MPD thruster with water-cooling structures, a 130 V maximum discharge voltage, a 800 A maximum discharge current, and a 0.25 T maximum strength of magnetic field. A hollow tantalum tungsten cathode acts as the only propellant inlet to inhibit the radial discharge, and it is positioned axially at the rear of the anode in order to relieve anode starvation. A cylindrical divergent copper anode is employed to decrease anode power deposition, where the length has been reduced to decrease the wall-plasma connecting area. Experiments utilized a vacuum system that can achieve a working vacuum of 0.01 Pa for a total propellant mass flow rate lower than 40 mg/s and a target thrust stand. The thruster tests were carried out to measure the effects of the working parameters such as propellant flow rates, the discharge current, and the strength of applied magnetic field on the performance and to allow appropriate analysis. The thruster could be operated continuously for significant periods of time with little erosion on the hollow cathode surface. The maximum power of the thruster is 100 kW, and the performance of this water-cooled configuration is comparable with that of thrusters reported in the literature.

The goal of this protocol is to introduce the design of a 100 kW class applied-field magnetoplasmadynamic thruster and relevant experimental methods.

一个100千瓦级的应用场磁等离子体动力学推进器

Applied-field magnetoplasmadynamic thrusters (AF-MPD thrusters) are hybrid accelerators in which electromagnetic and gas dynamic processes accelerate ...

O-cresol Concentration Online Measurement Based On Near Infrared Spectroscopy Via Partial Least Square Regression

Unlike macroscopic process variables, near-infrared spectroscopy provides process information at the molecular level and can significantly improve the prediction of the components in industrial processes. The ability to record spectra for solid and liquid samples without any pretreatment is advantageous and the method is widely used. However, the disadvantages of analyzing high-dimensional near-infrared spectral data include information redundancy and multicollinearity of the spectral data. Thus, we propose to use partial least squares regression method, which has traditionally been used to reduce the data dimensionality and eliminate the collinearity between the original features. We implement the method for predicting the o-cresol concentration during the production of polyphenylene ether. The proposed approach offers the following advantages over component regression prediction methods: 1) partial least squares regression solves the multicollinearity problem of the independent variables and effectively avoids overfitting, which occurs in a regression analysis due to the high correlation between the independent variables; 2) the use of the near-infrared spectra results in high accuracy because it is a non-destructive and non-polluting method to obtain information at microscopic and molecular scales.

The protocol describes a method of predicting o-cresol concentration during the production of polyphenylene ether using near-infrared spectroscopy and partial least squares regression. To describe the process more clearly and completely, an example of predicting the o-cresol concentration during the production of polyphenylene is used to clarify the steps.

O-cresol 浓度在线测量基于近红外光谱通过部分最小平方回归

Unlike macroscopic process variables, near-infrared spectroscopy provides process information at the molecular level and can significantly improve the ...

Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot

This protocol presents a method for manufacturing, control, and evaluation of the performance of a soft robot that can climb inclined flat surfaces with slopes of up to 84&#176;. The manufacturing method is valid for the fast pneunet bending actuators in general and might, therefore, be interesting for newcomers to the field of actuator manufacturing. The control of the robot is achieved by means of a pneumatic control box that can provide arbitrary pressures and can be built by only using purchased components, a laser cutter, and a soldering iron. For the walking performance of the robot, the pressure-angle calibration plays a crucial role. Therefore, a semi-automated method for the pressure-angle calibration is presented. At high inclines (&#62; 70&#176;), the robot can no longer reliably fix itself to the walking plane. Therefore, the gait pattern is modified to ensure that the feet can be fixed on the walking plane.

This protocol provides a detailed list of steps to be performed for the manufacturing, control and evaluation of the climbing performance of a gecko-inspired soft robot.

壁虎灵感软机器人的制造、控制和性能评估

This protocol presents a method for manufacturing, control, and evaluation of the performance of a soft robot that can climb inclined flat surfaces with ...

Elaborate Control of Inkjet Printer for Fabrication of Chip-based Supercapacitors

There are tremendous efforts in various fields to apply the inkjet printing method for the fabrication of wearable devices, displays, and energy storage devices. To get high-quality products, however, sophisticated operation skills are required depending on the physical properties of the ink materials. In this regard, optimizing the inkjet printing parameters is as important as developing the physical properties of the ink materials. In this study, optimization of the inkjet printing software parameters is presented for fabricating a supercapacitor. Supercapacitors are attractive energy storage systems because of their high power density, long lifespan, and various applications as power sources. Supercapacitors can be used in the Internet of Things (IoT), smartphones, wearable devices, electrical vehicles (EVs), large energy storage systems, etc. The wide range of applications demands a new method that can fabricate devices in various scales. The inkjet printing method can break through the conventional fixed-size&#160;fabrication method.

This paper provides a technique for manufacturing chip-based supercapacitors using an inkjet printer. Methodologies are described in detail to synthesize inks, adjust software parameters, and analyze the electrochemical results of the manufactured supercapacitor.

用于制造基于芯片的超级电容器的喷墨打印机的精细控制

There are tremendous efforts in various fields to apply the inkjet printing method for the fabrication of wearable devices, displays, and energy storage ...

A Modeling and Simulation Method for Preliminary Design of an Electro-Variable Displacement Pump

Electro-hydrostatic actuators (EHAs) have been considerably researched in academia, and their applications in various industrial fields are expanding. The variable-speed EHA has now taken priority over the variable-displacement EHA, but its driving motor and associated electronics encounter issues when applied in high-power applications: low-dynamics, high thermal dissipation, high price, etc. Therefore, a variable-displacement EHA equipped with an electro-variable displacement pump (EVDP) has been considered. The EVDP itself is a mechatronic system that integrates a piston pump, a ball screw, a gearbox, and a permanent magnet synchronous motor (PMSM). Consequently, the EVDP needs to be investigated to ensure its system-level performance when applied in an EHA. In addition to the previous research on the technical parameters of the EVDP, a dedicated design method is necessary for further reducing the cost of using the EVDP and exploring its performance potential. Here, a simulation based EVDP preliminary design method is selected for designing a 37 kW EVDP. Firstly, a previously proposed multidisciplinary model of the EVDP is extended by improving the parameter generation, including the EVDP life, reliability, control models, etc. Secondly, the proposed model is partially verified using a downsized prototype. Thirdly, the EVDP is simulated at a system level, supported by the proposed model. The EVDP performance is evaluated according to the specified design requirements. The temperature, bandwidth and accuracy, reliability and lifetime, etc., are all predicted for the EVDP. The simulation results demonstrate the EVDP's applicability in variable-displacement EHA. The proposed modeling and simulation method can be used to evaluate diverse EVDP performance and respond to general design requirements. The method can also support the resolution of the preliminary design challenges in terms of limited information and robustness. Therefore, the proposed method is appropriate for the realization of the simulation-based EVDP preliminary design method.

A simulation model specifically supporting the preliminary design of an electro-variable displacement pump (EVDP) is developed and partially verified by experiments. The control performance, life, reliability, etc., can all be evaluated using the proposed model, which covers the main performance requirements under the EVDP preliminary design task.

一种电动变量泵初步设计的建模与仿真方法

Electro-hydrostatic actuators (EHAs) have been considerably researched in academia, and their applications in various industrial fields are expanding. The ...

Data Communication Based on MQTT in a Polymer Extrusion Process

This work aims at building a flexible data communication structure for a polymer processing machine by employing a publisher-subscriber based protocol called Message Queuing Telemetry Transport (MQTT), which is operated over TCP/IP. Even when using conventional equipment, processing data can be measured and recorded by various devices anywhere through an Internet communication. A message-based protocol allows flexible communication that overcomes the shortcomings of the existing server-client protocol. Multiple devices can subscribe to the processing data published by source devices. The proposed method facilitates data communication between multiple publishers and subscribers. This work has implemented a system that publishes data from the equipment and additional sensors to a message broker. The subscribers can monitor and store the process data relayed by the broker. The system has been deployed and run for a film extrusion line to demonstrate the effectiveness.

This work proposes a flexible method for data communication between a film extrusion system and monitoring devices based on a message protocol called Message Queuing Telemetry Transport (MQTT).

基于MQTT的数据通信在聚合物挤出工艺中的应用

This work aims at building a flexible data communication structure for a polymer processing machine by employing a publisher-subscriber based protocol ...

Design and Application of a Fault Detection Method Based on Adaptive Filters and Rotational Speed Estimation for an Electro-Hydrostatic Actuator

The electro-hydrostatic actuator (EHA) is a promising actuating apparatus used in flight control systems for more electric aircraft (MEA) due to its high power density and low maintenance. Since the reliability of the system decreases with increasing complexity, fault detection is becoming increasingly important. In this paper, an adaptive filter was designed based on a normalized least mean square (NLMS) algorithm, which could identify the resistance of the motor windings online to detect electrical faults in the EHA. Additionally, based on the analytical relationship between rotational speed and displacement, a rotational speed estimation method was designed. By comparing the actual rotational speed with the estimated one, hydraulic faults could be detected. To verify the efficacy of the aforementioned method, software was applied for the modeling and simulations, which included fault injection and detection. On this basis, an experimental platform was built and then subjected to a series of validation experiments. The results indicate that the fault detection method has the potential to detect electrical and hydraulic faults in an EHA.

In this paper, an adaptive filter based on a normalized least mean square (NLMS) algorithm and a rotational speed estimation method are introduced to detect the electrical and hydraulic faults of the electro-hydrostatic actuator (EHA). The efficacy and feasibility of the aforementioned methods are verified through simulations and experiments.

基于自适应滤波和转速估计的电静压执行器故障检测方法设计与应用

The electro-hydrostatic actuator (EHA) is a promising actuating apparatus used in flight control systems for more electric aircraft (MEA) due to its high ...