7 research outputs found

    DataSheet1_Control and physical verification of 6-DOF manipulator for power inspection robots based on expert PID algorithm.ZIP

    No full text
    To enhance the performance of power inspection robots in intricate nuclear power stations, it is necessary to improve their response speed and accuracy. This paper uses the manipulator of the power inspection robot as the primary research object, and unlike previous control algorithm research, which only remained in the software simulation stage, we constructed a set of physical verification platforms based on CAN communication and physically verified the robotic arm’s control algorithm. First, the forward motion model is established based on the geometric structure of the manipulator and D-H parameter method, and the kinematic equation of the manipulator is solved by combining geometric method and algebraic method. Secondly, in order to conduct comparison tests, we designed PID controllers and expert PID controllers by utilising the expertise of experts. The results show that compared with the traditional PID algorithm, the expert PID algorithm has a faster response speed in the control process of the manipulator. It converges quickly in 0.75 s and has a smaller overshoot, with a maximum of only 6.9%. This confirms the expert PID algorithm’s good control effect on the robotic arm, allowing the six-degree-of-freedom robotic arm to travel more accurately and swiftly along the trajectory of the target point.</p

    Image1_Control and physical verification of 6-DOF manipulator for power inspection robots based on expert PID algorithm.JPEG

    No full text
    To enhance the performance of power inspection robots in intricate nuclear power stations, it is necessary to improve their response speed and accuracy. This paper uses the manipulator of the power inspection robot as the primary research object, and unlike previous control algorithm research, which only remained in the software simulation stage, we constructed a set of physical verification platforms based on CAN communication and physically verified the robotic arm’s control algorithm. First, the forward motion model is established based on the geometric structure of the manipulator and D-H parameter method, and the kinematic equation of the manipulator is solved by combining geometric method and algebraic method. Secondly, in order to conduct comparison tests, we designed PID controllers and expert PID controllers by utilising the expertise of experts. The results show that compared with the traditional PID algorithm, the expert PID algorithm has a faster response speed in the control process of the manipulator. It converges quickly in 0.75 s and has a smaller overshoot, with a maximum of only 6.9%. This confirms the expert PID algorithm’s good control effect on the robotic arm, allowing the six-degree-of-freedom robotic arm to travel more accurately and swiftly along the trajectory of the target point.</p

    Image2_Control and physical verification of 6-DOF manipulator for power inspection robots based on expert PID algorithm.JPEG

    No full text
    To enhance the performance of power inspection robots in intricate nuclear power stations, it is necessary to improve their response speed and accuracy. This paper uses the manipulator of the power inspection robot as the primary research object, and unlike previous control algorithm research, which only remained in the software simulation stage, we constructed a set of physical verification platforms based on CAN communication and physically verified the robotic arm’s control algorithm. First, the forward motion model is established based on the geometric structure of the manipulator and D-H parameter method, and the kinematic equation of the manipulator is solved by combining geometric method and algebraic method. Secondly, in order to conduct comparison tests, we designed PID controllers and expert PID controllers by utilising the expertise of experts. The results show that compared with the traditional PID algorithm, the expert PID algorithm has a faster response speed in the control process of the manipulator. It converges quickly in 0.75 s and has a smaller overshoot, with a maximum of only 6.9%. This confirms the expert PID algorithm’s good control effect on the robotic arm, allowing the six-degree-of-freedom robotic arm to travel more accurately and swiftly along the trajectory of the target point.</p

    DataSheet2_Control and physical verification of 6-DOF manipulator for power inspection robots based on expert PID algorithm.PDF

    No full text
    To enhance the performance of power inspection robots in intricate nuclear power stations, it is necessary to improve their response speed and accuracy. This paper uses the manipulator of the power inspection robot as the primary research object, and unlike previous control algorithm research, which only remained in the software simulation stage, we constructed a set of physical verification platforms based on CAN communication and physically verified the robotic arm’s control algorithm. First, the forward motion model is established based on the geometric structure of the manipulator and D-H parameter method, and the kinematic equation of the manipulator is solved by combining geometric method and algebraic method. Secondly, in order to conduct comparison tests, we designed PID controllers and expert PID controllers by utilising the expertise of experts. The results show that compared with the traditional PID algorithm, the expert PID algorithm has a faster response speed in the control process of the manipulator. It converges quickly in 0.75 s and has a smaller overshoot, with a maximum of only 6.9%. This confirms the expert PID algorithm’s good control effect on the robotic arm, allowing the six-degree-of-freedom robotic arm to travel more accurately and swiftly along the trajectory of the target point.</p

    Image3_Control and physical verification of 6-DOF manipulator for power inspection robots based on expert PID algorithm.JPEG

    No full text
    To enhance the performance of power inspection robots in intricate nuclear power stations, it is necessary to improve their response speed and accuracy. This paper uses the manipulator of the power inspection robot as the primary research object, and unlike previous control algorithm research, which only remained in the software simulation stage, we constructed a set of physical verification platforms based on CAN communication and physically verified the robotic arm’s control algorithm. First, the forward motion model is established based on the geometric structure of the manipulator and D-H parameter method, and the kinematic equation of the manipulator is solved by combining geometric method and algebraic method. Secondly, in order to conduct comparison tests, we designed PID controllers and expert PID controllers by utilising the expertise of experts. The results show that compared with the traditional PID algorithm, the expert PID algorithm has a faster response speed in the control process of the manipulator. It converges quickly in 0.75 s and has a smaller overshoot, with a maximum of only 6.9%. This confirms the expert PID algorithm’s good control effect on the robotic arm, allowing the six-degree-of-freedom robotic arm to travel more accurately and swiftly along the trajectory of the target point.</p

    Influence of CO<sub>2</sub> Exposure on High-Pressure Methane and CO<sub>2</sub> Adsorption on Various Rank Coals: Implications for CO<sub>2</sub> Sequestration in Coal Seams

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    There exist complex interactions between coal and CO<sub>2</sub> during the process of CO<sub>2</sub> sequestration in coal seams with enhanced coalbed methane recovery (CO<sub>2</sub>-ECBM). This work concentrated on the influence of CO<sub>2</sub> exposure on high-pressure methane and CO<sub>2</sub> (up to 10 MPa) adsorption behavior of three types of bituminous coal and one type of anthracite. The possible mechanism of the dependence of CO<sub>2</sub> exposure on adsorption performance of coal was also provided. The results indicate that the maximum methane adsorption capacities of various rank coals after CO<sub>2</sub> exposure increase by 3.45%–10.37%. However, the maximum CO<sub>2</sub> adsorption capacities of various rank coals decrease by 9.99%–23.93%. TG and pore structure analyses do not observe the obvious changes on the inorganic component and pore morphology of the coals after CO<sub>2</sub> exposure. In contrast, CO<sub>2</sub> exposure makes changes in surface chemistry of the coals, according to the results from FTIR analysis, which is the main reason for increases in the maximum adsorption capacity of methane and decreases in the maximum adsorption capacity of CO<sub>2</sub> for the coals after CO<sub>2</sub> exposure. The different role of CO<sub>2</sub> exposure on methane and CO<sub>2</sub> adsorption is detrimental to CO<sub>2</sub>-ECBM. Thus, the implementation of CO<sub>2</sub>-ECBM must take into account the influence of CO<sub>2</sub> exposure on the adsorption performance of the target coal seams

    Influences of SO<sub>2</sub>, NO, and CO<sub>2</sub> Exposure on Pore Morphology of Various Rank Coals: Implications for Coal-Fired Flue Gas Sequestration in Deep Coal Seams

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    Carbon dioxide (CO<sub>2</sub>) sequestration in deep coal seams with enhanced coal-bed methane recovery is a promising way to store the main anthropogenic greenhouse gas, CO<sub>2</sub>, in geologic time. Recently, injection of CO<sub>2</sub> mixed with coal-fired flue gas components, i.e., SO<sub>2</sub> and NO<sub><i>x</i></sub>, into coal seams has gained attention because it offers great advantages in reducing the cost of CO<sub>2</sub> capture, flue gas desulfuration, and denitration. As a preliminary investigation on the feasibility of coal-fired flue gas sequestration in deep coal seams, the influences of SO<sub>2</sub>, NO, and CO<sub>2</sub> exposures on the pore morphology of various rank coals are addressed in this work. Considering the optimum coal reservoir conditions for flue gas sequestration, the interaction of CO<sub>2</sub> with coals was studied at a temperature of 45 °C and a pressure of 12 MPa. The results show that both CO<sub>2</sub> exposure and SO<sub>2</sub> exposure lead to decreases in both the specific surface area and pore volume of micropores of various rank coals. The micropore morphology of both Hulunbuir coal and Shenmu coal after NO exposure exhibits degradation, while the opposite trend is found for Erdos coal and Yangquan coal. The average micropore size of all the coals after contact with CO<sub>2</sub>, NO, and SO<sub>2</sub> decreases. The CO<sub>2</sub>, NO, and SO<sub>2</sub> dependences of the meso- and macropore surface area and volume of coals are complex and strongly related to the coal rank. Fractal analyses show that the pore surfaces of coals after CO<sub>2</sub>, NO, and SO<sub>2</sub> exposures become smooth, as indicated by the surface fractal dimension determined from the Neimark model, which is consistent with the increasing trend of the average meso- and macropore size. Generally, the influences of SO<sub>2</sub>, NO, and CO<sub>2</sub> exposures on pore morphology of various rank coals may play an important role in the diffusion and adsorption performance of fluid within the target coal reservoir. Thus, comprehensive evaluation of the dependence of coal pore morphology on fluid exposure is needed for the practical coal-fired flue gas sequestration in deep coal seams
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