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Influence of kinematic redundancy on the singularity-free workspace of parallel kinematic machines

Jens KOTLARSKI, Bodo HEIMANN, Tobias ORTMAIER

《机械工程前沿（英文）》 2012年 第7卷 第2期   页码 120-134 doi: 10.1007/s11465-012-0321-8

摘要：

In this paper the effect of kinematic redundancy in order to reduce the singularity loci of the direct kinematics and to increase the operational, i.e., singularity-free, workspace is demonstrated. The proposed approach consists of additional prismatic actuators allowing one or more base joints to move linearly. As a result, a selective reconfiguration can be performed in order to avoid singular configurations. Exemplarily, kinematically redundant schemes of four structures, the 3RRR, the 3RPR, the 6UPS, and the 6RUS, are considered. The relationship between the redundancy and the operational workspace is studied and several analysis examples demonstrate the effectiveness of the proposed concept. Furthermore, the additional benefit of an increasing number of redundant actuators is discussed.

关键词： parallel robots     kinematic redundancy     singularity avoidance     operational workspace    

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Feasible workspace regions for general two-revolute manipulator

Conghui LIANG, Marco CECCARELLI

《机械工程前沿（英文）》 2011年 第6卷 第4期   页码 397-408 doi: 10.1007/s11465-011-0228-9

摘要：

In this paper, a topology is presented for feasible workspace regions in general two-revolute manipulators. The design problem and concept of feasible workspace regions have been discussed as linked to each other. Design equations are formulated by arbitrarily prescribing four workspace boundary points. The so-called feasible workspace regions are the intersection of three different sub-regions, which are given by constraint curves as function of the relative positions of three workspace boundary points. By using a parametric study, all topologies for three sub-regions are figured out. Corresponding areas in cross section plane are determined for prescribing the position of a feasible workspace point as function of the topology for sub-regions. A classification has been proposed to determine and to characterize the combination of the topologies for those sub-regions. All topologies for feasible workspace regions are figured out and they are discussed as a design tool. Three general cases are analyzed in details to characterize workspace design capabilities for general two-revolute manipulators.

关键词： workspace     two-revolute manipulators     topology analysis     design    

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Development of an integrated structural health monitoring system for bridge structures in operational

Xinqun ZHU, Hong HAO

《结构与土木工程前沿（英文）》 2012年 第6卷 第3期   页码 321-333 doi: 10.1007/s11709-012-0161-y

摘要： This paper presents an overview of development of an integrated structural health monitoring system. The integrated system includes vibration and guided-wave based structural health monitoring. It integrates the real-time heterogeneous sensor data acquiring system, data analysis and interpretation, physical-based numerical simulation of complex structural system under operational conditions and structural evaluation. The study is mainly focused on developing: integrated sensor technology, integrated structural damage identification with operational loads monitoring, and integrated structural evaluation with results from system identification. Numerical simulation and its implementation in laboratory show that the system is effective and reliable to detect local damage and global conditions of bridge structures.

关键词： integrated structural health monitoring     operational conditions     vibration and guided wave    

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Singularity and workspace analysis of three isoconstrained parallel manipulators with schoenflies motion

Po-Chih LEE, Jyh-Jone LEE

《机械工程前沿（英文）》 2012年 第7卷 第2期   页码 163-187 doi: 10.1007/s11465-012-0324-5

摘要：

This paper presents the analysis of three parallel manipulators with Schoenflies-motion. Each parallel manipulator possesses two limbs in structure and the end-effector has three DOFs (degree of freedom) in the translational motion and one DOF in rotational motion about a given direction axis with respect to the world coordinate system. The three isoconstrained parallel manipulators have the structures denoted as CuuUwHw-//-CvvUwHw, CuRuuUhw-//-CvRvvUhwand CuPuUhw-//- CvPvUhw. The kinematic equations are first introduced for each manipulator. Then, Jacobian matrix, singularity, workspace, and performance index for each mechanism are subsequently derived and analysed for the first time. The results can be helpful for the engineers to evaluate such kind of parallel robots for possible application in industry where pick-and-place motion is required.

关键词： parallel manipulator     schoenflies motion     kinematics     singularity     workspace     performance index    

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A review of condition-based maintenance: Its prognostic and operational aspects

Yanrong LI, Shizhe PENG, Yanting LI, Wei JIANG

《工程管理前沿（英文）》 2020年 第7卷 第3期   页码 323-334 doi: 10.1007/s42524-020-0121-5

摘要： Condition-based maintenance (CBM) detects early signs of failure and dictates when maintenance should be performed based on the actual condition of a system. In this paper, we first review some of the recent research on CBM under various physical structures and signal data. Then, we summarize several kinds of prognostic models that use monitoring information to estimate the reliability of complex systems or products. Monitoring information also facilitates operational decisions in production planning, spare parts management, reliability improvement, and prognostics and health management. Finally, we suggest some research opportunities for the reliability and operations management communities to fill the research gap between these two fields.

关键词： condition-based maintenance     prognostics     operational decision-making     reliability    

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Kinematic, workspace and singularity analysis of a new parallel robot used in minimally invasive surgery

Alin STOICA, Doina PISLA, Szilaghyi ANDRAS, Bogdan GHERMAN, Bela-Zoltan GYURKA, Nicolae PLITEA

《机械工程前沿（英文）》 2013年 第8卷 第1期   页码 70-79 doi: 10.1007/s11465-013-0365-4

摘要：

In the last ten years, due to development in robotic assisted surgery, the minimally invasive surgery has greatly changed. Until now, the vast majority of robots used in surgery, have serial structures. Due to the orientation parallel module, the structure is able to reduce the pressure exerted on the entrance point in the patient’s abdominal wall. The parallel robot can also handle both a laparoscope as well an active instrument for different surgical procedures. The advantage of this parallel structure is that the geometric model has been obtained through an analytical approach. The kinematic modelling of a new parallel architecture, the inverse and direct geometric model and the inverse and direct kinematic models for velocities and accelerations are being determined. The paper will demonstrate that with this parallel structure, one can obtain the necessary workspace required for a minimally invasive operation. The robot workspace was generated using the inverse geometric model. An in-depth study of different types of singularity is performed, allowing the development of safe control algorithms of the experimental model. Some kinematic simulation results and the experimental model of the robot are presented in the paper.

关键词： parallel robot     minimally invasive surgery     kinematics     simulation    

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一种具有大工作空间的轻量级力反馈手套 Article

郑宇铠, 王党校, 王子琦, 张昱, 张玉茹, 徐卫良

《工程（英文）》 2018年 第4卷 第6期   页码 869-880 doi: 10.1016/j.eng.2018.10.003

摘要：

在虚拟现实场景中，佩戴力反馈手套是一种有效的增强穿戴者与虚拟物体交互沉浸感的方法。这种手套的设计难点在于需要提供足够大的手指运动工作空间，在模拟自由空间和约束空间交互时提供所需的力反馈感觉，以及确保一个轻量级的结构。本文提出了一种将气动驱动器安装在使用者手背侧的力反馈手套。该手套采用了一种凸轮连杆组合机构，利用带有弯曲滑槽和三个运动副的连杆将阻力从气缸活塞杆传递到指尖。为了得到穿戴者指尖反馈力的一个较大的法向分量，通过分析带有三个运动副的连杆上的力平衡，计算出了滑槽的轮廓。本文研制了质量为245 g 的五指力反馈手套样机，建立了可穿戴的力测量系统，对自由空间和约束空间的力反馈性能进行了定量评价。实验结果表明，该手套在自由空间模拟中平均阻力小于0.1 N，在约束空间模拟中指尖力最大为4 N。实验进一步证实，这种手套能够保证手指的自由移动以及模拟典型的抓取操作手势。

关键词： 力反馈手套     轻量级     大工作空间     气压驱动     虚拟现实    

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Review of operational management in intelligent agriculture based on the Internet of Things

Xiangpei HU, Lijun SUN, Yaxian ZHOU, Junhu RUAN

《工程管理前沿（英文）》 2020年 第7卷 第3期   页码 309-322 doi: 10.1007/s42524-020-0107-3

摘要： This review aims to gain insight into the current research and application of operational management in the area of intelligent agriculture based on the Internet of Things (IoT), and consequently, identify existing shortcomings and potential issues. First, we use the Java application CiteSpace to analyze co-citation networks in the literature related to the operational management of IoT-based intelligent agriculture. From the literature analysis results, we identify three major fields: (1) the development of agricultural IoT (Agri-IoT) technology, (2) the precision management of agricultural production, and (3) the traceability management of agricultural products. Second, we review research in the three fields separately in detail. Third, on the basis of the research gaps identified in the review and from the perspective of integrating and upgrading the entire agricultural industry chain, additional research directions are recommended from the following aspects: The operational management of agricultural production, product processing, and product sale and after-sale service based on Agri-IoT. The theoretical research and practical application of combining operational management theories and IoT-based intelligent agriculture will provide informed decision support for stakeholders and drive the further development of the entire agriculture industry chain.

关键词： Internet of Things (IoT)     agricultural Internet of Things (Agri-IoT)     operational management     intelligent agriculture     precision management     traceability    

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Design and operational considerations for selective catalytic reduction technologies at coal-fired boilers

Jeremy J. SCHREIFELS, Shuxiao WANG, Jiming HAO

《能源前沿（英文）》 2012年 第6卷 第1期   页码 98-105 doi: 10.1007/s11708-012-0171-4

摘要： By the end of 2010, China had approximately 650 GW of coal-fired electric generating capacity producing almost 75% of the country’s total electricity generation. As a result of the heavy reliance on coal for electricity generation, emissions of air pollutants, such as nitrogen oxides (NO ), are increasing. To address these growing emissions, the Ministry of Environmental Protection (MEP) has introduced new NO emission control policies to encourage the installation of selective catalytic reduction (SCR) technologies on a large number of coal-fired electric power plants. There is, however, limited experience with SCR in China. It is therefore useful to explore the lessons from the use of SCR technologies in other countries. This paper provides an overview of SCR technology performance at coal-fired electric power plants demonstrating emission removal rates between 65% and 92%. It also reviews the design and operational challenges that, if not addressed, can reduce the reliability, performance, and cost-effectiveness of SCR technologies. These challenges include heterogeneous flue gas conditions, catalyst degradation, ammonia slip, sulfur trioxide (SO ) formation, and fouling and corrosion of plant equipment. As China and the rest of the world work to reduce greenhouse gas emissions, carbon dioxide (CO ) emissions from parasitic load and urea-to-ammonia conversion may also become more important. If these challenges are properly addressed, SCR can reliably and effectively remove up to 90% of NO emissions at coal-fired power plants.

关键词： nitrogen oxides (NOx)     coal     selective catalytic reduction (SCR)     air pollution control    

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渤海湾海底隧道运营风险评估分析

王永红,刘兵,张永刚

《中国工程科学》 2013年 第15卷 第12期   页码 107-112

摘要：

特长海底隧道运营是一个极其复杂的系统工程，存在较大的不确定性和安全风险。根据隧道工程运营期风险评估的一般流程，对渤海湾海底隧道工程在其运营期的风险进行了评估。评估中考虑的主要风险因素有水害、衬砌裂损、冻害、衬砌腐蚀、震害、洞内空气污染、火灾和列车脱轨事故8 种类型。综合运用信心指数法和层次分析法，参照隧道与地下工程风险接受准则和风险等级标准，对渤海湾海底隧道运营期间的风险进行估计与评价。给出了该海底隧道运营期的风险等级，并讨论了本评估工作中尚存在的一些问题和今后有待深入的工作。

关键词： 海底隧道     运营期     风险分析     风险评估    

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Development of a BIM-based holonic system for real-time monitoring of building operational efficiency

Alessandro CARBONARI, Leonardo MESSI, Berardo NATICCHIA, Massimo VACCARINI, Massimiliano PIRANI

《工程管理前沿（英文）》 2020年 第7卷 第1期   页码 89-103 doi: 10.1007/s42524-019-0037-0

摘要： In the wide context of facility management, several processes, such as operations, maintenance, retrofitting, and renovations, ensure that buildings comply with the principles of efficiency, cost-effectiveness, and indoor comfort. Apart from ordinary operation, facility management is responsible for the renovation of and long-term performance improvement of building facilities. In such a scenario, the cyber–physical system (CPS) paradigm with holonic architecture, which is the focus of this study, can successfully guide the operation management and long-term refurbishment processes of buildings. Analogous to the manufacturing field, the developed CPS maximizes holons’ self-configuration and self-organization and overall throughput effectiveness metrics to detect the best corrective actions toward system improvements. Consequently, suggestions and lessons learned from the evaluation of building efficiency are redirected to the building information model. Hence, the digital model acts as a repository of currently available equipment for operations management and the history of diagnoses that support decision-making during the maintenance, retrofitting, and renovation processes. Evidently, the repeated detection of a specific issue, which is unaffected by operations management, should be considered an opportunity to act and enhance the performances of existing building components. Similar to a goods-producing industry, the building management system developed in this study applies the aforementioned methodology to provide services related to indoor comfort and building health. This approach indicates that a method for automatic real-time diagnosis is tested in a case study consisting of a multi-use and large public building. The current paper, which is an extended version of the one presented in the Creative Construction Conference 2018, deepens the decision support tool and the supervision policy. Moreover, the developed system is contextualized by providing an example of use case and highlighting the step forward in the field of smart buildings.

关键词： BIM     building management system     cyber-physical system     facility management     holonic system    

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Effects of operational and structural parameters on cell voltage of industrial magnesium electrolysis

Ze Sun,Chenglin Liu,Guimin Lu,Xingfu Song,Jianguo Yu

《化学科学与工程前沿（英文）》 2015年 第9卷 第4期   页码 522-531 doi: 10.1007/s11705-015-1539-x

摘要： Electric field is the energy foundation of the electrolysis process and the source of the multiphysical fields in a magnesium electrolysis cell. In this study, a three-dimensional numerical model was developed and used to calculate electric field at the steady state through the finite element analysis. Based on the simulation of the electric field, the operational and structural parameters, such as the current intensity, anode thickness, cathode thickness, and anode-cathode distance (ACD), were investigated to obtain the minimum cell voltage. The optimization is to obtain the minimum resistance voltage which has a significant effect on the energy consumption in the magnesium electrolysis process. The results indicate that the effect of the current intensity on the voltage could be ignored and the effect of the ACD is obvious. Moreover, there is a linear decrease between the voltage and the thicknesses of the anode and cathode; and the anode-cathode working height also has a significant effect on the voltage.

关键词： finite element method     magnesium electrolysis cell     electric field    

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三峡船闸完建期156 m蓄水位4级运行方式原型调试研究

胡亚安,张瑞凯,李云

《中国工程科学》 2009年 第11卷 第9期   页码 52-58

摘要：

从水力学条件论证了船闸采用4级运行方案的可行性。通过原型调试，采取中间及阐首优化后的输水方式运行，基本消除了闸室第一分流口空化，船闸在超过设计的45.2 m水头下工作条件较好，在三峡船闸完建期156 m蓄水位船闸采用4级运行方式具优越性。

关键词： 三峡船闸     运行方式     原型调试    

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网络中心战作战理念与信息融合技术

朱林,张晓囡,徐兴杰

《中国工程科学》 2005年 第7卷 第3期   页码 69-73

摘要：

探讨了网络中心战的核心内容，指出信息融合技术是网络中心战面临的巨大技术挑战之一，并论述了信息融合技术的主要研究内容，包括信息融合的功能模型、体系结构、信息融合系统工程及融合的算法，总结了信息融合技术在国内外的发展现状，在此基础上，分析了网络中心战条件下信息融合技术的发展方向。

关键词： 网络中心战     作战理念     信息融合    

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中国气象预报业务工程体系建设和发展

颜宏,李泽椿,马清云,田翠英

《中国工程科学》 2000年 第2卷 第11期   页码 88-93

摘要：

文章介绍中国气象预报业务工程体系的建设和发展过程、现代气象预报业务所包含的子系统及其相 关技术以及21世纪气象预报业务建设的技术发展趋势和展望。

关键词： 气象预报     业务工程体系     发展    

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标题 作者 时间 类型 操作

Influence of kinematic redundancy on the singularity-free workspace of parallel kinematic machines

Jens KOTLARSKI, Bodo HEIMANN, Tobias ORTMAIER

期刊论文

Feasible workspace regions for general two-revolute manipulator

Conghui LIANG, Marco CECCARELLI

期刊论文

Development of an integrated structural health monitoring system for bridge structures in operational

Xinqun ZHU, Hong HAO

期刊论文

Singularity and workspace analysis of three isoconstrained parallel manipulators with schoenflies motion

Po-Chih LEE, Jyh-Jone LEE

期刊论文

A review of condition-based maintenance: Its prognostic and operational aspects

Yanrong LI, Shizhe PENG, Yanting LI, Wei JIANG

期刊论文

Kinematic, workspace and singularity analysis of a new parallel robot used in minimally invasive surgery

Alin STOICA, Doina PISLA, Szilaghyi ANDRAS, Bogdan GHERMAN, Bela-Zoltan GYURKA, Nicolae PLITEA

期刊论文

一种具有大工作空间的轻量级力反馈手套

郑宇铠, 王党校, 王子琦, 张昱, 张玉茹, 徐卫良

期刊论文

Review of operational management in intelligent agriculture based on the Internet of Things

Xiangpei HU, Lijun SUN, Yaxian ZHOU, Junhu RUAN

期刊论文

Design and operational considerations for selective catalytic reduction technologies at coal-fired boilers

Jeremy J. SCHREIFELS, Shuxiao WANG, Jiming HAO

期刊论文

渤海湾海底隧道运营风险评估分析

王永红,刘兵,张永刚

期刊论文

Development of a BIM-based holonic system for real-time monitoring of building operational efficiency

Alessandro CARBONARI, Leonardo MESSI, Berardo NATICCHIA, Massimo VACCARINI, Massimiliano PIRANI

期刊论文

Effects of operational and structural parameters on cell voltage of industrial magnesium electrolysis

Ze Sun,Chenglin Liu,Guimin Lu,Xingfu Song,Jianguo Yu

期刊论文

三峡船闸完建期156 m蓄水位4级运行方式原型调试研究

胡亚安,张瑞凯,李云

期刊论文

网络中心战作战理念与信息融合技术

朱林,张晓囡,徐兴杰

期刊论文

中国气象预报业务工程体系建设和发展

颜宏,李泽椿,马清云,田翠英

期刊论文