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医院中子照射器 3

扫描格式转换 3

硼中子俘获治疗 3

硼中子俘获疗法 3

运动补偿 3

CO2捕集 2

二氧化碳捕集 2

化学吸收 2

能源 2

过程模拟 2

运动估计 2

BNCT 1

BPA 1

CCS 1

CO2 捕集 1

CO2分离 1

Otway 1

下肢外骨骼机器人；人机交互；运动学习；轨迹生成；运动基元；黑盒优化 1

下肢机器人；捕获点；步态相位；人机系统平衡 1

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Synthesis of spherical parallel manipulator for dexterous medical task

Abdelbadia CHAKER, Abdelfattah MLIKA, Med Amine LARIBI, Lotfi ROMDHANE, Sa?d ZEGHLOUL

《机械工程前沿（英文）》 2012年 第7卷 第2期   页码 150-162 doi: 10.1007/s11465-012-0325-4

摘要：

This paper deals with the design and the analysis of a spherical parallel manipulator (SPM) for a haptic minimally invasive surgery application. First the medical task was characterized with the help of a surgeon who performed a suture technique called anastomosis. A Vicon system was used to capture the motion of the surgeon, which yielded the volume swept by the tool during the anastomosis operation. The identified workspace can be represented by a cone with a half vertex angle of 26°. A multi objective optimization procedure based on genetic algorithms was then carried out to find the optimal SPM. Two criteria were considered, i.e., task workspace and mechanism dexterity. The optimized SPM was then analyzed to determine the error on the orientation of the end effector as a function of the manufacturing errors of the different links of the mechanism.

关键词： spherical parallel manipulator (SPM)     anastomosis     haptic     motion capture     optimization     workspace     dexterity     genetic algorithm     manufacturing errors    

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Contribution to the design of robotized tele-echography system

T. ESSOMBA, M. A. LARIBI, J. P. GAZEAU, S. ZEGHLOUL, G. POISSON

《机械工程前沿（英文）》 2012年 第7卷 第2期   页码 135-149 doi: 10.1007/s11465-012-0326-3

摘要：

This paper introduces the design of a master-slave robotized system for tele-ultrasound application. The objective of these researches is to design the slave manipulator of this system and its control device (master part). The specification process of the architecture kinematic is based on the analysis of expert’s gesture during ultrasound examinations. These studies have been carried out using a motion capture system. The medical gestures were analyzed in terms of ultrasound probe attitude and used in the definition of the kinematics specifications of the proposed manipulator. The Spherical Parallel Mechanism is selected because its characteristics meet the constraint requirements. The optimal synthesis of spherical parallel manipulators is performed using a real-coded Genetic Algorithm based method. Simulations on the actuator responses of the structure allowed us the validate it. In order to control this robot, we have also designed a haptic device that provides easiness to use as well as force feedback. Its orientation control strategy is based on a use of an adaptative kalman filter which efficiency was demonstrated during experimentations.

关键词： tele-echography     motion capture     spherical parallel mechanism     genetic algorithm     adaptative kalman filter    

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Offline motion planning and simulation of two-robot welding coordination

Tie ZHANG, Fan OUYANG

《机械工程前沿（英文）》 2012年 第7卷 第1期   页码 81-92 doi: 10.1007/s11465-012-0309-4

摘要：

This paper focuses on the two-robot welding coordination of complex curve seam which means one robot grasp the workpiece, the other hold the torch, the two robots work on the same workpiece simultaneously. This paper builds the dual-robot coordinate system at the beginning, and three point calibration method of two robots’ relative base coordinate system is presented. After that, the non master/slave scheme is chosen for the motion planning, the non master/slave scheme sets the poses versus time function of the point u on the workpiece, and calculates the two robot end effecter trajectories through the constrained relationship matrix automatically. Moreover, downhand welding is employed which can guarantee the torch and the seam keep in good contact condition all the time during the welding. Finally, a Solidworks-SimMechanics simulation platform is established, and a simulation of curved steel pipe welding is conducted. The results of the simulation illustrate the welding process can meet the requirements of downhand welding, the joint displacement curves are smooth and continuous and no joint velocities are out of working scope.

关键词： complex curve seam     two robots     coordinated welding     motion planning    

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Dynamic modelling and simulation of a post-combustion CO capture process for coal-fired power plants

《化学科学与工程前沿（英文）》 2022年 第16卷 第2期   页码 198-209 doi: 10.1007/s11705-021-2057-7

摘要： Solvent-based post-combustion capture technologies have great potential for CO2 mitigation in traditional coal-fired power plants. Modelling and simulation provide a low-cost opportunity to evaluate performances and guide flexible operation. Composed by a series of partial differential equations, first-principle post-combustion capture models are computationally expensive, which limits their use in real time process simulation and control. In this study, we propose a first-principle approach to develop the basic structure of a reduced-order model and then the dominant factor is used to fit properties and simplify the chemical and physical process, based on which a universal and hybrid post-combustion capture model is established. Model output at steady state and trend at dynamic state are validated using experimental data obtained from the literature. Then, impacts of liquid-to-gas ratio, reboiler power, desorber pressure, tower height and their combination on the absorption and desorption effects are analyzed. Results indicate that tower height should be designed in conjunction with the flue gas flow, and the gas-liquid ratio can be optimized to reduce the reboiler power under a certain capture target.

关键词： CO2 capture     post-combustion capture     simulation     dominant factor    

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Reduction potential of the energy penalty for CO capture in CCS

《能源前沿（英文）》 2023年 第17卷 第3期   页码 390-399 doi: 10.1007/s11708-023-0864-x

摘要： CO2 capture and storage (CCS) has been acknowledged as an essential part of a portfolio of technologies that are required to achieve cost-effective long-term CO2 mitigation. However, the development progress of CCS technologies is far behind the targets set by roadmaps, and engineering practices do not lead to commercial deployment. One of the crucial reasons for this delay lies in the unaffordable penalty caused by CO2 capture, even though the technology has been commonly recognized as achievable. From the aspects of separation and capture technology innovation, the potential and promising direction for solving this problem were analyzed, and correspondingly, the possible path for deployment of CCS in China was discussed. Under the carbon neutral target recently proposed by the Chinese government, the role of CCS and the key milestones for deployment were indicated.

关键词： CO2 capture and storage (CCS)     CO2 separation     energy penalty    

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Linking renewables and fossil fuels with carbon capture via energy storage for a sustainable energy future

Dawid P. Hanak, Vasilije Manovic

《化学科学与工程前沿（英文）》 2020年 第14卷 第3期   页码 453-459 doi: 10.1007/s11705-019-1892-2

摘要： Renewable energy sources and low-carbon power generation systems with carbon capture and storage (CCS) are expected to be key contributors towards the decarbonisation of the energy sector and to ensure sustainable energy supply in the future. However, the variable nature of wind and solar power generation systems may affect the operation of the electricity system grid. Deployment of energy storage is expected to increase grid stability and renewable energy utilisation. The power sector of the future, therefore, needs to seek a synergy between renewable energy sources and low-carbon fossil fuel power generation. This can be achieved via wide deployment of CCS linked with energy storage. Interestingly, recent progress in both the CCS and energy storage fields reveals that technologies such as calcium looping are technically viable and promising options in both cases. Novel integrated systems can be achieved by integrating these applications into CCS with inherent energy storage capacity, as well as linking other CCS technologies with renewable energy sources via energy storage technologies, which will maximise the profit from electricity production, mitigate efficiency and economic penalties related to CCS, and improve renewable energy utilisation.

关键词： carbon capture     energy storage     renewable energy sources     decarbonisation     fossil fuels    

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Synthesis of Intermittent-Motion Linkages with Slight Difference in Length Between Links

CHEN Xin-bo, YU Zhen

《机械工程前沿（英文）》 2006年 第1卷 第1期   页码 76-79 doi: 10.1007/s11465-005-0007-6

摘要：

The design of intermittent-motion linkages using traditional methods is usually complicated. In this paper, (1) a new method for realizing intermittent motion, using linkages with a slight difference in length between links, is studied; (2) some new types of intermittent-motion linkages and their software for visual analysis and design are developed; and (3) influences of some design parameters on intermittent-motion characteristics are clarified. Results confirmed that the theory and the software are useful, making the synthesis of intermittent-motion linkages clear and easy.

关键词： synthesis     useful     intermittent     intermittent-motion     traditional    

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Application of membrane separation technology in post-combustion carbon dioxide capture process

Mo LI,Xiaobin JIANG,Gaohong HE

《化学科学与工程前沿（英文）》 2014年 第8卷 第2期   页码 233-239 doi: 10.1007/s11705-014-1408-z

摘要： Membrane separation technology is a possible breakthrough in post-combustion carbon dioxide capture process. This review first focuses on the requirements for CO separation membrane, and then outlines the existing competitive materials, promising preparation methods and processes to achieve desirable CO selectivity and permeability. A particular emphasis is addressed on polyimides, poly (ethylene oxide), mixed-matrix membrane, thermally-rearranged polymer, fixed site carrier membrane, ionic liquid membrane and electrodialysis process. The advantages and drawbacks of each of materials and methods are discussed. Research threads and methodology of CO separation membrane and the key issue in this area are concluded

关键词： membranes     carbon dioxide capture     separation     polymers     post-combustion    

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China’s policy framework for carbon capture, utilization and storage: Review, analysis, and outlook

《能源前沿（英文）》 2023年 第17卷 第3期   页码 400-411 doi: 10.1007/s11708-023-0862-z

摘要： Carbon capture, utilization, and storage (CCUS) is estimated to contribute substantial CO2 emission reduction to carbon neutrality in China. There is yet a large gap between such enormous demand and the current capacity, and thus a sound enabling environment with sufficient policy support is imperative for CCUS development. This study reviewed 59 CCUS-related policy documents issued by the Chinese government as of July 2022, and found that a supporting policy framework for CCUS is taking embryonic form in China. More than ten departments of the central government have involved CCUS in their policies, of which the State Council, the National Development and Reform Commission (NDRC), the Ministry of Science and Technology (MOST), and the Ministry of Ecological Environment (MEE) have given the greatest attention with different focuses. Specific policy terms are further analyzed following the method of content analysis and categorized into supply-, environment- and demand-type policies. The results indicate that supply-type policies are unbalanced in policy objectives, as policy terms on technology research and demonstration greatly outnumber those on other objectives, and the attention to weak links and industrial sectors is far from sufficient. Environment-type policies, especially legislations, standards, and incentives, are inadequate in pertinence and operability. Demand-type policies are absent in the current policy system but is essential to drive the demand for the CCUS technology in domestic and foreign markets. To meet the reduction demand of China’s carbon neutral goal, policies need to be tailored according to needs of each specific technology and implemented in an orderly manner with well-balanced use on multiple objectives.

关键词： carbon capture     utilization     and storage (CCUS)     policy     content analysis     China    

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Design and modeling of continuum robot based on virtual-center of motion mechanism

《机械工程前沿（英文）》 2023年 第18卷 第2期 doi: 10.1007/s11465-022-0739-6

摘要： Continuum robot has attracted extensive attention since its emergence. It has multi-degree of freedom and high compliance, which give it significant advantages when traveling and operating in narrow spaces. The flexural virtual-center of motion (VCM) mechanism can be machined integrally, and this way eliminates the assembly between joints. Thus, it is well suited for use as a continuum robot joint. Therefore, a design method for continuum robots based on the VCM mechanism is proposed in this study. First, a novel VCM mechanism is formed using a double leaf-type isosceles-trapezoidal flexural pivot (D-LITFP), which is composed of a series of superimposed LITFPs, to enlarge its stroke. Then, the pseudo-rigid body (PRB) model of the leaf is extended to the VCM mechanism, and the stiffness and stroke of the D-LITFP are modeled. Second, the VCM mechanism is combined to form a flexural joint suitable for the continuum robot. Finally, experiments and simulations are used to validate the accuracy and validity of the PRB model by analyzing the performance (stiffness and stroke) of the VCM mechanism. Furthermore, the motion performance of the designed continuum robot is evaluated. Results show that the maximum stroke of the VCM mechanism is approximately 14.2°, the axial compressive strength is approximately 1915 N/mm, and the repeatable positioning accuracies of the continuum robot is approximately ±1.47° (bending angle) and ±2.46° (bending direction).

关键词： VCM mechanism     continuum robot     flexural joint     pseudo-rigid body model     cable-driven    

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measurements: Powerful tools for revealing the mechanism of alkali carbonate-based sorbents for CO capture

《能源前沿（英文）》 2023年 第17卷 第3期   页码 380-389 doi: 10.1007/s11708-023-0872-x

摘要： Alkali carbonate-based sorbents (ACSs), including Na2CO3- and K2CO3-based sorbents, are promising for CO2 capture. However, the complex sorbent components and operation conditions lead to the versatile kinetics of CO2 sorption on these sorbents. This paper proposed that operando modeling and measurements are powerful tools to understand the mechanism of sorbents in real operating conditions, facilitating the sorbent development, reactor design, and operation parameter optimization. It reviewed the theoretical simulation achievements during the development of ACSs. It elucidated the findings obtained by utilizing density functional theory (DFT) calculations, ab initio molecular dynamics (AIMD) simulations, and classical molecular dynamics (CMD) simulations as well. The hygroscopicity of sorbent and the humidity of gas flow are crucial to shifting the carbonation reaction from the gas−solid mode to the gas−liquid mode, boosting the kinetics. Moreover, it briefly introduced a machine learning (ML) approach as a promising method to aid sorbent design. Furthermore, it demonstrated a conceptual compact operando measurement system in order to understand the behavior of ACSs in the real operation process. The proposed measurement system includes a micro fluidized-bed (MFB) reactor for kinetic analysis, a multi-camera sub-system for 3D particle movement tracking, and a combined Raman and IR sub-system for solid/gas components and temperature monitoring. It is believed that this system is useful to evaluate the real-time sorbent performance, validating the theoretical prediction and promoting the industrial scale-up of ACSs for CO2 capture.

关键词： CO2 capture     carbonation     theoretical modeling     operando techniques     reaction visualization    

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电气传动——信息、能源和运动的接口

马小亮

《中国工程科学》 2000年 第2卷 第2期   页码 83-86

摘要：

电气传动是信息能源和运动的接口。长期以来大家都接触它，但对它是不是高新技术存在疑虑。文章试图从接口角度出发谈个人对该领域的认识，望能促进人们的理解。文中讨论电气传动下列几个问题：什么是电气传动；在国民经济中的作用；与其它学科的关系及发展方向；在我国的现状及攻关方向建议。

关键词： 电气传动     接口     信息     能源     运动    

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Measurement and analysis of typical motion error traces from a circular test

LI Xiaoli, LIU Huanlao

《机械工程前沿（英文）》 2008年 第3卷 第2期   页码 146-150 doi: 10.1007/s11465-008-0033-2

摘要： The circular test provides a rapid and efficient way of measuring the contouring accuracy of a machine tool. To get the actual point coordinate in the work plane, an improved measurement instrument - a new ball bar test system - is presented in this paper to identify both the radial error and the rotation angle error when the machine is manipulated to move in circular traces. Based on the measured circular error, a combination of Fourier components is chosen to represent the systematic form error that fluctuates in the radial direction. The typical motion errors represented by the corresponding Fourier components can thus be identified. The values for machine compensation can be calculated and adjusted until the desired results are achieved.

关键词： machine compensation     direction     combination     desired     efficient    

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Floating production storage and offloading systems’ cost and motion performance: A systems thinking application

Rini NISHANTH, Andrew WHYTE, V. John KURIAN

《工程管理前沿（英文）》 2018年 第5卷 第3期   页码 357-368 doi: 10.15302/J-FEM-2018022

摘要：

Floating production storage and offloading (FPSO) units increasingly represent a practical and economic means for deep-water oil extraction and production. Systems thinking gives a unique opportunity to seek a balance between FPSO technical performance(s), with whole-cost; stakeholder decision-making is charged to align different fit-for-use design specification options’ that address technical-motion(s), with respective life-cycle cost analyses (LCCA). Soft system methodology allows situation based analyses over set periods-of-time by diagnosing the problem-at-hand; namely, assessing the antecedents of life-cycle cost relative to FPSO sub-component design alternatives. Alternative mooring- component comparisons for either new-build hulls or refurbished hulls represent an initial necessary consideration to facilitate extraction, production and storage of deep-water oil reserves. Coupled dynamic analysis has been performed to generate FPSO motion in six degrees of freedom using SESAM DeepC, while life-cycle cost analysis (LCAA) studies give net-present-value comparisons reflective of market conditions. A parametric study has been conducted by varying wave heights from 4 – 8 m to understand FPSO motion behavior in the presence of wind and current, as well as comparing the motions of turreted versus spread mooring design alternatives. LCCA data has been generated to compare the cost of such different mooring options/hull conditions over 10 and 25-year periods. Systems thinking has been used to explain the interaction of problem variables; resultantly this paper is able to identify explicit factors affecting the choice of FPSO configurations in terms of motion and whole-cost, toward assisting significantly with the front-end engineering design (FEED) phase of fit-for-purpose configured FPSOs, in waters off Malaysia and Australia.

关键词： FPSO     LCCA     spread/turret-mooring     DeepC     cost     motion     soft-systems    

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Lifecycle carbon footprint and cost assessment for coal-to-liquid coupled with carbon capture, storage

《能源前沿（英文）》 2023年 第17卷 第3期   页码 412-427 doi: 10.1007/s11708-023-0879-3

摘要： The coal-to-liquid coupled with carbon capture, utilization, and storage technology has the potential to reduce CO2 emissions, but its carbon footprint and cost assessment are still insufficient. In this paper, coal mining to oil production is taken as a life cycle to evaluate the carbon footprint and levelized costs of direct-coal-to-liquid and indirect-coal-to-liquid coupled with the carbon capture utilization and storage technology under three scenarios: non capture, process capture, process and public capture throughout the life cycle. The results show that, first, the coupling carbon capture utilization and storage technology can reduce CO2 footprint by 28%–57% from 5.91 t CO2/t·oil of direct-coal-to-liquid and 24%–49% from 7.10 t CO2/t·oil of indirect-coal-to-liquid. Next, the levelized cost of direct-coal-to-liquid is 648–1027 $/t of oil, whereas that of indirect-coal-to-liquid is 653–1065 $/t of oil. When coupled with the carbon capture utilization and storage technology, the levelized cost of direct-coal-to-liquid is 285–1364 $/t of oil, compared to 1101–9793 $/t of oil for indirect-coal-to-liquid. Finally, sensitivity analysis shows that CO2 transportation distance has the greatest impact on carbon footprint, while coal price and initial investment cost significantly affect the levelized cost of coal-to-liquid.

关键词： coal-to-liquid     carbon capture     utilization and storage (CCUS)     carbon footprint     levelized cost of liquid     lifecycle assessment    

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标题 作者 时间 类型 操作

Synthesis of spherical parallel manipulator for dexterous medical task

Abdelbadia CHAKER, Abdelfattah MLIKA, Med Amine LARIBI, Lotfi ROMDHANE, Sa?d ZEGHLOUL

期刊论文

Contribution to the design of robotized tele-echography system

T. ESSOMBA, M. A. LARIBI, J. P. GAZEAU, S. ZEGHLOUL, G. POISSON

期刊论文

Offline motion planning and simulation of two-robot welding coordination

Tie ZHANG, Fan OUYANG

期刊论文

Dynamic modelling and simulation of a post-combustion CO capture process for coal-fired power plants

期刊论文

Reduction potential of the energy penalty for CO capture in CCS

期刊论文

Linking renewables and fossil fuels with carbon capture via energy storage for a sustainable energy future

Dawid P. Hanak, Vasilije Manovic

期刊论文

Synthesis of Intermittent-Motion Linkages with Slight Difference in Length Between Links

CHEN Xin-bo, YU Zhen

期刊论文

Application of membrane separation technology in post-combustion carbon dioxide capture process

Mo LI,Xiaobin JIANG,Gaohong HE

期刊论文

China’s policy framework for carbon capture, utilization and storage: Review, analysis, and outlook

期刊论文

Design and modeling of continuum robot based on virtual-center of motion mechanism

期刊论文

measurements: Powerful tools for revealing the mechanism of alkali carbonate-based sorbents for CO capture

期刊论文

电气传动——信息、能源和运动的接口

马小亮

期刊论文

Measurement and analysis of typical motion error traces from a circular test

LI Xiaoli, LIU Huanlao

期刊论文

Floating production storage and offloading systems’ cost and motion performance: A systems thinking application

Rini NISHANTH, Andrew WHYTE, V. John KURIAN

期刊论文

Lifecycle carbon footprint and cost assessment for coal-to-liquid coupled with carbon capture, storage

期刊论文