Plane kinematic calibration method for industrial robot based on dynamic measurement of double ball bar

Abstract(#br)A new calibration method is proposed to improve the circular plane kinematic accuracy of industrial robot by using dynamic measurement of double ball bar (DBB). The kinematic model of robot is established by the MDH (Modified Denavit-Hartenberg) method. The error mapping relationship between the motion error of end-effector and the kinematic parameter error of each axis is calculated through the Jacobian iterative method. In order to identify the validity of the MDH parameter errors, distance errors and angle errors of each joint axis were simulated by three orders of magnitude respectively. After multiple iterations, the average value of kinematic error modulus of end-effector was reduced to nanometer range. Experiments were conducted on an industrial robot (EPSON C4 A901) in the working space of 180 mm × 490 mm. Due to the measuring radius of DBB, the working space was divided into 30 sub-planes to measure the roundness error before and after compensation. The average roundness error calibrated by the proposed method at multi-planes decreased about 21.4%, from 0.4637 mm to 0.3644 mm, while the standard deviation of roundness error was reduced from 0.0720 mm to 0.0656 mm. In addition, by comparing the results of positioning error measured by the laser interferometer before and after calibration, the range values of motion errors of end-effector were decreasing by 0.1033 mm and 0.0730 mm on the X and Y axes, respectively

Study on characteristics of particulate emission of diesel aftertreatment with reciprocating flow

© 2021 The Authors. Energy Science & Engineering published by the Society of Chemical Industry and John Wiley & Sons Ltd. This is an open access article under the terms of the Creative Commons Attribution License, which permits use, distribution and reproduction in any medium, provided the original work is properly cited. https://creativecommons.org/licenses/by/4.0/In this article, in order to optimize diesel aftertreatment system with periodically reciprocating flow (PRF), an experimental study is conducted to investigate its characteristics such as pollution emissions, regeneration of diesel particulate filter (DPF), concentration and size distribution of particulate matter (PM) escaped as well as temperature distribution under unidirectional flow and PRF operating conditions. The effects of reciprocating flow cycle and exhaust gas flow on the performance of aftertreatment system are investigated in detail. The energy efficiency analysis of the aftertreatment system is also carried out. Experimental results show that (i) as the temperature is lower than the light-off threshold of combustible gas, the aftertreatment system cannot restrain the formation of second particles under the present experiment condition of unidirectional flow; (ii) the aftertreatment system demonstrates excellent performance of trapping particles and filter regeneration as the symmetrical temperature distribution is formed. The PM filter efficiency α_PM is 92% and the specific energy consumption β is 124% for symmetrical temperature distribution; (iii) the increase of reciprocating flow cycle could lead to the shifting of the temperature profiles, this would affect the particle size distribution; (iv) a certain increase of exhaust gas flow from engine would have insignificant change for the temperature distribution; (v) The critical energy efficiency η_c of the system could reach 96.61%.Peer reviewedFinal Published versio

A case of delayed cardiac perforation of active ventricular lead

A 65-year-old man was admitted as for one month of repetitive dizziness and one episode of syncope. Electrocardiogram showed sinus bradycardia and his Holter monitoring also showed sinus bradycardia with sinus arrest, sino-atrial block and a longest pause of 4.3 s. Then sick sinus syndrome and Adam-Stokes syndrome were diagnosed. Then a dual chamber pacemaker (Medtronic SDR303) was implanted and the parameters were normal by detection. The patient was discharged 1 week later with suture removed. Then 1.5 month late the patient was presented to hospital once again for sudden onset of chest pain with exacerbation after taking deep breath. Pacemaker programming showed both pacing and sensing abnormality with threshold of?5.0V and resistance of 1200?. Lead perforation was revealed by chest X-ray and confirmed by echocardiogram. Considering the fact that there was high risk to remove ventricular lead, spiral tip of previous ventricular lead was withdrew followed by implantation of a new ventricular active lead to the septum. Previous ventricular lead was maintained. As we know that the complications of lead perforation in the clinic was rare. Here we discuss the clinical management and the possible reasons for cardiac perforation of active ventricular lead

Analysis on the Prognostic and Survival Factors of Synchronous Multiple Primary Lung Cancer

Background and objective Synchronous multiple primary lung cancer (sMPLC) is a sparse disease in the past, but there has been a gradual increase in the morbidity of sMPLC recently. However, studies on large sample have never been undertaken. The purpose of this study is to investigate the diagnosis, treatment and prognosis of sMPLC through analyzing the clinical data, and provide supports for the management of sMPLC. Methods According to Martini-Melamed criteria, 357 patients were diagnosed sMPLC. The pathological staging is on the basis of the 8th edition tumor-node-metastasis (TNM) staging from International Association for the Study of Lung Cancer (IASLC). Results There were 269 patients with double primary lung cancer, 65 patients with triple primary lung cancer and 23 patients with four or more primary lung cancer. Lesions (68.55%, 571/833) were frequently in upper lobe, especially the right upper lobe. Adenocarcinoma (95.56%, 796/833) was the mainly pathological type, followed by squamous cell carcinoma (2.40%, 20/833). The acinar predominant subtype was the main part (70.81%, 313/442) of the all adenocarcinoma specimens. Most of the lesions (68.35%, 244/357) were stage Ib or low. Among the initial lesion and the following lesions ,patients who had the same pathological type (92.72%, 331/357) were more than the different (7.28%, 26/357), of which adenocarcinoma-adenocarcinoma occupied the major proportion (99.40%, 329/331). The 3-year overall survival (OS) and 5-year overall survival were respective 91.93% and 84.37%. Multivariate analysis found that smoking history (P=0.012), the diameter of the maximum lesion (P=0.027), lymph node metastasis (P=0.015) and pleural invasion (P<0.001) were the independent risk factors for prognosis. Conclusion Tumours in patients with sMPLC are more frequently in the right upper lobe. Adenocarcinoma was the mainly pathological type. Smoking history, the diameter of the maximum lesion, lymph node metastasis and pleural invasion were the independent risk factors for prognosis. Early diagnosis and active operation can obtain better prognosis

Rational Design of 3D Honeycomb-Like SnS2 Quantum Dots/rGO Composites as High-Performance Anode Materials for Lithium/Sodium-Ion Batteries

Abstract Structure pulverization and poor electrical conductivity of metal dichalcogenides result in serious capacity decay both in lithium-ion batteries (LIBs) and sodium-ion batteries (SIBs). To resolve the above problems, a combination of metal dichalcogenides with conductive scaffolds as high-performance electrode materials has aroused tremendous interest recently. Herein, we synthesize a 3D honeycomb-like rGO anchored with SnS2 quantum dots (3D SnS2 QDs/rGO) composite via spray-drying and sulfidation. The unique 3D-ordered honeycomb-like structure can confine the volume change of SnS2 QDs in the lithiation/delithiation and sodiation/desodiation processes, provide enough space for electrolyte reservoirs, promote the conductivity of the SnS2 QDs, and improve the electron transfer. As a result, the 3D SnS2 QDs/rGO composite electrode delivers a high capacity and long cycling stability (862 mAh/g for LIB at 0.1 A/g after 200 cycles, 233 mAh/g for SIB at 0.5 A/g after 200 cycles). This study provides a feasible synthesis route for preparing 3D-ordered porous networks in varied materials for the development of high-performance LIBs and SIBs in future

Multistep nucleation visualized during solid-state crystallization

Mechanisms of nucleation have been debated for more than a century, despite successes of classical nucleation theory. The nucleation process has been recently argued as involving a nonclassical mechanism (the "two-step" mechanism) in which an intermediate step occurs before the formation of a nascent ordered phase. However, a thorough understanding of this mechanism, in terms of both microscopic kinetics and thermodynamics, remains experimentally challenging. Here, in situ observations using transmission electron microscopy on a solid-state nucleation case indicate that early-stage crystallization can follow the non-classical pathway, yet proceed via a more complex manner in which multiple metastable states precede the emergence of a stable nucleus. The intermediate steps were sequentially isolated as spinodal decomposition of amorphous precursor, mass transport and structural oscillations between crystalline and amorphous states. Our experimental and theoretical analyses support the idea that the energetic favorability is the driving force for the observed sequence of events. Due to the broad applicability of solid-state crystallization, the findings of this study offer new insights into modern nucleation theory and a potential avenue for materials design