Currently,the solid adsorbents with porous structure have been widely applied in CO_(2)capture.However,the unmodified MgO-ZrO_(2)adsorbents appeared to be low adsorption capacity of CO_(2).The solid adsorbent material...Currently,the solid adsorbents with porous structure have been widely applied in CO_(2)capture.However,the unmodified MgO-ZrO_(2)adsorbents appeared to be low adsorption capacity of CO_(2).The solid adsorbent materials were successfully synthesized by loading TEPA onto the pore MgO/ZrO_(2)carriers in the paper.The pore structure and surface characteristic of the samples were analyzed by using XRD,BET,FT-IR and SEM.The adsorbent materials exhibited microcrystalline state,and the crystallinity of all samples gradually decreased as the increase of TEPA content.The pore structure analysis indicated that the modification of MgO-ZrO_(2)adsorbents with TEPA led to the decrease of the specific surface areas,but the narrow micro-mesopore size distributions ranging from 1.8-12 nm in the adsorbents still were maintained.FT-IR spectrum results further verified the successful loading of TEPA.The adsorption capacity of the adsorbents for CO_(2)were tested by using an adsorption apparatus equipped with gas chromatography.The results indicated that when the TEPA loading reached 50%,the sample exhibited the maximum adsorption value for CO_(2),reaching 4.07 mmol/g under the operation condition of 75℃and atmospheric pressure.This result could be assigned to not only the base active sites but also the coexistence of both micropore and mesopore in the adsorbent.After three cycles tests for CO_(2)capture,the adsorption value of the sample for CO_(2)can also reached 95%of its original adsorption capacity,which verified the excellent cyclic operation stability.展开更多
The technology for green and macro-conversion of solid waste biomass to prepare high-quality activated carbon demands urgent development.This study proposes a technique for synthesizing carbon adsorbents using trace K...The technology for green and macro-conversion of solid waste biomass to prepare high-quality activated carbon demands urgent development.This study proposes a technique for synthesizing carbon adsorbents using trace KOH-catalyzed CO_(2) activation.Comprehensive investigations were conducted on three aspects:physicochemical structure evolution of biochar,mechanistic understanding of trace KOH-facilitated CO_(2) activation processes,and application characteristics for CO_(2) adsorption.Results demonstrate that biochar activated by trace KOH(<10%)and CO_(2) achieves comparable specific surface area(1244.09 m^(2)/g)to that obtained with 100%KOH activation(1425.10 m^(2)/g).The pore structure characteristics(specific surface area and pore volume)are governed by CO and CH4 generated through K-salt catalyzed reactions between CO_(2) and biochar.The optimal CO_(2) adsorption capacities of KBC adsorbent reached 4.70 mmol/g(0℃)and 7.25 mmol/g(25℃),representing the maximum values among comparable carbon adsorbents.The 5%KBC-CO_(2) sample exhibited CO_(2) adsorption capacities of 3.19 and 5.01 mmol/g under respective conditions,attaining current average performance levels.Notably,CO_(2)/N_(2) selectivity(85∶15,volume ratio)reached 64.71 at 0.02 bar with robust cycling stability.Molecular dynamics simulations revealed that oxygen-containing functional groups accelerate CO_(2) adsorption kinetics and enhance micropore storage capacity.This technical route offers simplicity,environmental compatibility,and scalability,providing critical references for large-scale preparation of high-quality carbon materials.展开更多
Electrocatalytic carbon dioxide reduction is a promising technology for addressing global energy and environmental crises. However, its practical application faces two critical challenges: the complex and energy-inten...Electrocatalytic carbon dioxide reduction is a promising technology for addressing global energy and environmental crises. However, its practical application faces two critical challenges: the complex and energy-intensive process of separat-ing mixed reduction products and the economic viability of the carbon sources (reactants) used. To tackle these challenges simultaneously, solid-state electrolyte (SSE) reactors are emerging as a promising solution. In this review, we focus on the feasibility of applying SSE for tandem electrochemical CO_(2) capture and conversion. The configurations and fundamental principles of SSE reactors are first discussed, followed by an introduction to its applications in these two specific areas, along with case studies on the implementation of tandem electrolysis. In comparison to conventional H-type cell, flow cell and membrane electrode assembly cell reactors, SSE reactors incorporate gas diffusion electrodes and utilize a solid electro-lyte layer positioned between an anion exchange membrane (AEM) and a cation exchange membrane (CEM). A key inno-vation of this design is the sandwiched SSE layer, which enhances efficient ion transport and facilitates continuous product extraction through a stream of deionized water or humidified nitrogen, effectively separating ion conduction from product collection. During electrolysis, driven by an electric field and concentration gradient, electrochemically generated ions (e.g., HCOO- and CH3COO-) migrate through the AEM into the SSE layer, while protons produced from water oxidation at the anode traverse the CEM into the central chamber to maintain charge balance. Targeted products like HCOOH can form in the middle layer through ionic recombination and are efficiently carried away by the flowing medium through the porous SSE layer, in the absence of electrolyte salt impurities. As CO_(2)RR can generate a series of liquid products, advancements in catalyst discovery over the past several years have facilitated the industrial application of SSE for more efficient chemicals production. Also noteworthy, the cathode reduction reaction can readily consume protons from water, creating a highly al-kaline local environment. SSE reactors are thereby employed to capture acidic CO_(2), forming CO_(3)^(2-) from various gas sources including flue gases. Driven by the electric field, the formed CO_(3)^(2-) can traverse through the AEM and react with protons originating from the anode, thereby regenerating CO_(2). This CO_(2) can then be collected and utilized as a low-cost feedstock for downstream CO_(2) electrolysis. Based on this principle, several cell configurations have been proposed to enhance CO_(2) capture from diverse gas sources. Through the collaboration of two SSE units, tandem electrochemical CO_(2) capture and con-version has been successfully implemented. Finally, we offer insights into the future development of SSE reactors for prac-tical applications aimed at achieving carbon neutrality. We recommend that greater attention be focused on specific aspects, including the fundamental physicochemical properties of the SSE layer, the electrochemical engineering perspective related to ion and species fluxes and selectivity, and the systematic pairing of consecutive CO_(2) capture and conversion units. These efforts aim to further enhance the practical application of SSE reactors within the broader electrochemistry community.展开更多
Carbon nanotubes(CNTs)have garnered significant attention in the fields of science,engineering,and medicine due to their numerous advantages.The initial step towards harnessing the potential of CNTs involves their mac...Carbon nanotubes(CNTs)have garnered significant attention in the fields of science,engineering,and medicine due to their numerous advantages.The initial step towards harnessing the potential of CNTs involves their macroscopic assembly.The present study employed a gentle and direct self-assembly technique,wherein controlled growth of CNT sheaths occurred on the metal wire’s surface,followed by etching of the remaining metal to obtain the hollow tubes composed of CNTs.By controlling the growth time and temperature,it is possible to alter the thickness of the CNTs sheath.After immersing in a solution containing 1 g/L of CNTs at 60℃ for 24 h,the resulting CNTs layer achieved a thickness of up to 60μm.These hollow CNTs tubes with varying inner diameters were prepared through surface reinforcement using polymers and sacrificing metal wires,thereby exhibiting exceptional attributes such as robustness,flexibility,air tightness,and high adsorption capacity that effectively capture CO_(2) from the gas mixture.展开更多
This study presents a kinematic calibration method for exoskeletal inertial motion capture (EI-MoCap) system with considering the random colored noise such as gyroscopic drift.In this method, the geometric parameters ...This study presents a kinematic calibration method for exoskeletal inertial motion capture (EI-MoCap) system with considering the random colored noise such as gyroscopic drift.In this method, the geometric parameters are calibrated by the traditional calibration method at first. Then, in order to calibrate the parameters affected by the random colored noise, the expectation maximization (EM) algorithm is introduced. Through the use of geometric parameters calibrated by the traditional calibration method, the iterations under the EM framework are decreased and the efficiency of the proposed method on embedded system is improved. The performance of the proposed kinematic calibration method is compared to the traditional calibration method. Furthermore, the feasibility of the proposed method is verified on the EI-MoCap system. The simulation and experiment demonstrate that the motion capture precision is significantly improved by 16.79%and 7.16%respectively in comparison to the traditional calibration method.展开更多
Reusable and flexible capturing of space debris is highly required in future aerospace technologies.A tendon-actuated flexible robotic arm is therefore proposed for capturing floating targets in this paper.Firstly,an ...Reusable and flexible capturing of space debris is highly required in future aerospace technologies.A tendon-actuated flexible robotic arm is therefore proposed for capturing floating targets in this paper.Firstly,an accurate dynamic model of the flexible robotic arm is established by using the absolute nodal coordinate formulation(ANCF)in the framework of the arbitrary Lagrangian-Eulerian(ALE)description and the natural coordinate formulation(NCF).The contact and self-contact dynamics of the flexible robotic arm when bending and grasping an object are considered via a fast contact detection approach.Then,the dynamic simulations of the flexible robotic arm for capturing floating targets are carried out to study the influence of the position,size,and mass of the target object on the grasping performance.Finally,a principle prototype of the tendon-actuated flexible robotic arm is manufactured to validate the dynamic model.The corresponding grasping experiments for objects of various shapes are also conducted to illustrate the excellent performance of the flexible robotic arm.展开更多
An optimal midcourse trajectory planning approach that considers the capture region（CR） of the terminal guidance is proposed in this article based on the Gauss pseudospectral method（GPM）. Firstly, the planar CR of...An optimal midcourse trajectory planning approach that considers the capture region（CR） of the terminal guidance is proposed in this article based on the Gauss pseudospectral method（GPM）. Firstly, the planar CR of the proportional navigation in terminal guidance is analyzed and innovatively introduced in the midcourse trajectory planning problems, with the collision triangle（CT） serving as the ideal terminal states parameters of the midcourse phase, and the CR area serving as the robustness against target maneuvers. Secondly, the midcourse trajectory planning problem that considers the path, terminal and control constraints is formulated and the well-developed GPM is used to generate the nominal trajectory that meets the CR demands. The interceptor will reshape the trajectory only when the former CR fails to cover the target, which has loosened the critical demand for frequent trajectory modification. Finally, the simulations of four different scenarios are carried out and the results prove the effectiveness and optimality of the proposed method.展开更多
The capture probability of interceptors has been deeply studied.Firstly,the definition of capture probability is analyzed.It is transformed into calculating the probability that the relative position vector between th...The capture probability of interceptors has been deeply studied.Firstly,the definition of capture probability is analyzed.It is transformed into calculating the probability that the relative position vector between the target and the interceptor locates in a certain cone.The relative position vector and associated covariance matrix are projected in line-of-sight coordinates,and the 3-dimensional integral of a probability function in a cone is calculated to obtain the capture probability.The integral equation is a complicated expression of probability,and it is simplified to an explicit approximate expression according to some assumptions based on the characteristics of the engineering problems.The approximation precision is analyzed by comparative simulation difference,which indicates that approximate assumptions are reasonable.Utilizing the explicit expression,the characteristics of capture probability are analyzed respectively with the factors,such as the distance between the interceptor and the target,the precision of relative position vector,the maximum capture distance and the maximum field angle of interceptor seeker.展开更多
The essential requirements of the end-effector of large space manipulator are capabilities of misalignment tolerance and soft capture.According to these requirements,an end-effector prototype combining the tendon-shea...The essential requirements of the end-effector of large space manipulator are capabilities of misalignment tolerance and soft capture.According to these requirements,an end-effector prototype combining the tendon-sheath transmission system with steel cable snaring mechanism was manufactured.An analysis method based on the coordinate transformation and the projection of key points of the mechanical interface was proposed,and it was a guideline of the end-effector design.Furthermore,the tendon-sheath transmission system was employed in the capture subassembly to reduce the inertia of the capture mechanism and enlarge the capture space.The capabilities of misalignment tolerance and soft capture were validated through the dynamic simulation in ADAMS software.The results of the capture simulation and experiment show that the end-effector has outstanding capabilities of misalignment tolerance and soft capture.The translation misalignments in radial directions are±100 mm,and angular misalignments about pitch and yaw are±15°.展开更多
Robotic systems are expected to play an increasingly important role in future space activities. The robotic on-orbital service, whose key is the capturing technology, becomes a research hot spot in recent years. This ...Robotic systems are expected to play an increasingly important role in future space activities. The robotic on-orbital service, whose key is the capturing technology, becomes a research hot spot in recent years. This paper studies the dynamics modeling and impedance control of a multi-arm free-flying space robotic system capturing a non-cooperative target. Firstly, a control-oriented dynamics model is essential in control algorithm design and code realization. Unlike a numerical algorithm, an analytical approach is suggested. Using a general and a quasi-coordinate Lagrangian formulation, the kinematics and dynamics equations are derived.Then, an impedance control algorithm is developed which allows coordinated control of the multiple manipulators to capture a target.Through enforcing a reference impedance, end-effectors behave like a mass-damper-spring system fixed in inertial space in reaction to any contact force between the capture hands and the target. Meanwhile, the position and the attitude of the base are maintained stably by using gas jet thrusters to work against the manipulators' reaction. Finally, a simulation by using a space robot with two manipulators and a free-floating non-cooperative target is illustrated to verify the effectiveness of the proposed method.展开更多
Magnesium hydroxide(Mg(OH)2)has been considered as a potential solvent for CO2 removal of coal-fired power plant and biomass gas.The chemistry action and mass to transfer mechanism of CO2-H2O-Mg(OH)2 system in a slurr...Magnesium hydroxide(Mg(OH)2)has been considered as a potential solvent for CO2 removal of coal-fired power plant and biomass gas.The chemistry action and mass to transfer mechanism of CO2-H2O-Mg(OH)2 system in a slurry bubble column reactor was described,and a reliable computational model was developed.The overall mass transfer coefficient and surface area per unit volume were obtained using experimental approach and simulation with software assistance.The results show that the mass transfer process of CO2 absorbed by Mg(OH)2 slurry is mainly liquid-controlled,and slurry concentration and temperature are main contributory factors of volumetric mass transfer coefficient and liquid side mass transfer coefficient.High concentration of CO2 has an adverse effect on its absorption because it leads to the fast deposition of MgCO3·3H2O crystals on the surfaces of unreacted Mg(OH)2 particles,reducing the utilization ratio of magnesium hydroxide.Meanwhile,high CO3^2– ion concentration limits the dissolution of MgCO3 to absorb CO2 continually.Concentration of 0.05 mol/L Mg(OH)2,15%vol CO2 gas and operation temperature at 35℃are recommended for this CO2 capture system.展开更多
Ferrocene-based porous organic polymer(FcPOP) was constructed with ferrocene and porphyrin derivatives as building blocks via Schiff-base coupling. FcPOP was well characterized, and exhibited good thermal stability, h...Ferrocene-based porous organic polymer(FcPOP) was constructed with ferrocene and porphyrin derivatives as building blocks via Schiff-base coupling. FcPOP was well characterized, and exhibited good thermal stability, high porosity, microporous structure, and homogeneous pore size distribution. Ferrocene blocks with highly electron-rich characteristics endowed Fc POP with excellent adsorption capacity of CO2 and methyl violet. The kinetic study indicated adsorption of methyl violet onto FcPOP mainly complied with pesudo-second order model. The maximum adsorption capacity of FcPOP derived from Langmuir isotherm model reached up to 516 mg/g. More importantly, FcPOP could be easily regenerated and repeatedly employed for removal of methyl violet with high efficiency. Overall, FcPOP in the present study highlighted prospective applications in the field of gas capture and dyeing wastewater treatment.展开更多
The optical navigation errors of Mars probe in the capture stage depend closely on which targets are selected to be observed in the Mars system.As for this problem,an integrated navigation scheme is proposed wherein t...The optical navigation errors of Mars probe in the capture stage depend closely on which targets are selected to be observed in the Mars system.As for this problem,an integrated navigation scheme is proposed wherein the optical observation is aided by one-way Doppler measurements.The errors are then analyzed respectively for the optical observation and one-way Doppler measurements.The real-time calculating scheme which exploits the extended Kalman filter(EKF)framework is designed for the integrated navigation.The simulation tests demonstrate that the errors of optical navigation,which select the Mars moon as the observation target,are relatively smaller than those in the Mars-orientation optical navigation case.On one hand,the integrated navigation errors do not depend on the selecting pattern of optical observation targets.On the other hand,the integrated navigation errors are significantly reduced as compared with those in the optical-alone autonomous navigation mode.展开更多
Several task-specific ionic liquids（TSILs） with weak alkalinity have been designed based on tetraalkyl-ammonium cation and L-alanine anion([N<sub>2222</sub>][L-Ala]) for the CO<sub>2</sub> ab...Several task-specific ionic liquids（TSILs） with weak alkalinity have been designed based on tetraalkyl-ammonium cation and L-alanine anion([N<sub>2222</sub>][L-Ala]) for the CO<sub>2</sub> absorption.[N<sub>2222</sub>][L-Ala]has been chosen as a green and efficient activator for methyldiethanolamine（MDEA）.The densities,viscosities and absorption properties of the equimolar[N<sub>2222</sub>][L-Ala]-MDEA blended absorbents were investigated.Low viscosity and density values support the idea that blended absorbents are preferred in the industrial applications.[N<sub>2222</sub>][L-Ala]-MDEA behave similarly to the aqueous counterparts but offer more advantages,such as large absorption capacities,fast absorption rate and relatively low damage to the environment.展开更多
基金supported by Shanxi Provincial Key Research and Development Project(202102090301026)Graduate Education Innovation Project of Taiyuan University of Science and Technology(SY2023024)。
文摘Currently,the solid adsorbents with porous structure have been widely applied in CO_(2)capture.However,the unmodified MgO-ZrO_(2)adsorbents appeared to be low adsorption capacity of CO_(2).The solid adsorbent materials were successfully synthesized by loading TEPA onto the pore MgO/ZrO_(2)carriers in the paper.The pore structure and surface characteristic of the samples were analyzed by using XRD,BET,FT-IR and SEM.The adsorbent materials exhibited microcrystalline state,and the crystallinity of all samples gradually decreased as the increase of TEPA content.The pore structure analysis indicated that the modification of MgO-ZrO_(2)adsorbents with TEPA led to the decrease of the specific surface areas,but the narrow micro-mesopore size distributions ranging from 1.8-12 nm in the adsorbents still were maintained.FT-IR spectrum results further verified the successful loading of TEPA.The adsorption capacity of the adsorbents for CO_(2)were tested by using an adsorption apparatus equipped with gas chromatography.The results indicated that when the TEPA loading reached 50%,the sample exhibited the maximum adsorption value for CO_(2),reaching 4.07 mmol/g under the operation condition of 75℃and atmospheric pressure.This result could be assigned to not only the base active sites but also the coexistence of both micropore and mesopore in the adsorbent.After three cycles tests for CO_(2)capture,the adsorption value of the sample for CO_(2)can also reached 95%of its original adsorption capacity,which verified the excellent cyclic operation stability.
基金supported by the National Natural Science Foundation of China(52376103,542B2081).
文摘The technology for green and macro-conversion of solid waste biomass to prepare high-quality activated carbon demands urgent development.This study proposes a technique for synthesizing carbon adsorbents using trace KOH-catalyzed CO_(2) activation.Comprehensive investigations were conducted on three aspects:physicochemical structure evolution of biochar,mechanistic understanding of trace KOH-facilitated CO_(2) activation processes,and application characteristics for CO_(2) adsorption.Results demonstrate that biochar activated by trace KOH(<10%)and CO_(2) achieves comparable specific surface area(1244.09 m^(2)/g)to that obtained with 100%KOH activation(1425.10 m^(2)/g).The pore structure characteristics(specific surface area and pore volume)are governed by CO and CH4 generated through K-salt catalyzed reactions between CO_(2) and biochar.The optimal CO_(2) adsorption capacities of KBC adsorbent reached 4.70 mmol/g(0℃)and 7.25 mmol/g(25℃),representing the maximum values among comparable carbon adsorbents.The 5%KBC-CO_(2) sample exhibited CO_(2) adsorption capacities of 3.19 and 5.01 mmol/g under respective conditions,attaining current average performance levels.Notably,CO_(2)/N_(2) selectivity(85∶15,volume ratio)reached 64.71 at 0.02 bar with robust cycling stability.Molecular dynamics simulations revealed that oxygen-containing functional groups accelerate CO_(2) adsorption kinetics and enhance micropore storage capacity.This technical route offers simplicity,environmental compatibility,and scalability,providing critical references for large-scale preparation of high-quality carbon materials.
基金This work was supported by the National Key R&D Program of China(2022YFB4102000 and 2022YFA1505100)the NSFC(22472038)the Shanghai Science and Technology Innovation Action Plan(22dz1205500).
文摘Electrocatalytic carbon dioxide reduction is a promising technology for addressing global energy and environmental crises. However, its practical application faces two critical challenges: the complex and energy-intensive process of separat-ing mixed reduction products and the economic viability of the carbon sources (reactants) used. To tackle these challenges simultaneously, solid-state electrolyte (SSE) reactors are emerging as a promising solution. In this review, we focus on the feasibility of applying SSE for tandem electrochemical CO_(2) capture and conversion. The configurations and fundamental principles of SSE reactors are first discussed, followed by an introduction to its applications in these two specific areas, along with case studies on the implementation of tandem electrolysis. In comparison to conventional H-type cell, flow cell and membrane electrode assembly cell reactors, SSE reactors incorporate gas diffusion electrodes and utilize a solid electro-lyte layer positioned between an anion exchange membrane (AEM) and a cation exchange membrane (CEM). A key inno-vation of this design is the sandwiched SSE layer, which enhances efficient ion transport and facilitates continuous product extraction through a stream of deionized water or humidified nitrogen, effectively separating ion conduction from product collection. During electrolysis, driven by an electric field and concentration gradient, electrochemically generated ions (e.g., HCOO- and CH3COO-) migrate through the AEM into the SSE layer, while protons produced from water oxidation at the anode traverse the CEM into the central chamber to maintain charge balance. Targeted products like HCOOH can form in the middle layer through ionic recombination and are efficiently carried away by the flowing medium through the porous SSE layer, in the absence of electrolyte salt impurities. As CO_(2)RR can generate a series of liquid products, advancements in catalyst discovery over the past several years have facilitated the industrial application of SSE for more efficient chemicals production. Also noteworthy, the cathode reduction reaction can readily consume protons from water, creating a highly al-kaline local environment. SSE reactors are thereby employed to capture acidic CO_(2), forming CO_(3)^(2-) from various gas sources including flue gases. Driven by the electric field, the formed CO_(3)^(2-) can traverse through the AEM and react with protons originating from the anode, thereby regenerating CO_(2). This CO_(2) can then be collected and utilized as a low-cost feedstock for downstream CO_(2) electrolysis. Based on this principle, several cell configurations have been proposed to enhance CO_(2) capture from diverse gas sources. Through the collaboration of two SSE units, tandem electrochemical CO_(2) capture and con-version has been successfully implemented. Finally, we offer insights into the future development of SSE reactors for prac-tical applications aimed at achieving carbon neutrality. We recommend that greater attention be focused on specific aspects, including the fundamental physicochemical properties of the SSE layer, the electrochemical engineering perspective related to ion and species fluxes and selectivity, and the systematic pairing of consecutive CO_(2) capture and conversion units. These efforts aim to further enhance the practical application of SSE reactors within the broader electrochemistry community.
基金Project(ZCLTGS24B0101)supported by Zhejiang Provincial Natural Science Foundation of ChinaProject(Y202250501)supported by Scientific Research Fund of Zhejiang Provincial Education Department,ChinaProject supported by SRT Research Project of Jiaxing Nanhu University,China。
文摘Carbon nanotubes(CNTs)have garnered significant attention in the fields of science,engineering,and medicine due to their numerous advantages.The initial step towards harnessing the potential of CNTs involves their macroscopic assembly.The present study employed a gentle and direct self-assembly technique,wherein controlled growth of CNT sheaths occurred on the metal wire’s surface,followed by etching of the remaining metal to obtain the hollow tubes composed of CNTs.By controlling the growth time and temperature,it is possible to alter the thickness of the CNTs sheath.After immersing in a solution containing 1 g/L of CNTs at 60℃ for 24 h,the resulting CNTs layer achieved a thickness of up to 60μm.These hollow CNTs tubes with varying inner diameters were prepared through surface reinforcement using polymers and sacrificing metal wires,thereby exhibiting exceptional attributes such as robustness,flexibility,air tightness,and high adsorption capacity that effectively capture CO_(2) from the gas mixture.
基金supported by the National Natural Science Foundation of China (61503392)。
文摘This study presents a kinematic calibration method for exoskeletal inertial motion capture (EI-MoCap) system with considering the random colored noise such as gyroscopic drift.In this method, the geometric parameters are calibrated by the traditional calibration method at first. Then, in order to calibrate the parameters affected by the random colored noise, the expectation maximization (EM) algorithm is introduced. Through the use of geometric parameters calibrated by the traditional calibration method, the iterations under the EM framework are decreased and the efficiency of the proposed method on embedded system is improved. The performance of the proposed kinematic calibration method is compared to the traditional calibration method. Furthermore, the feasibility of the proposed method is verified on the EI-MoCap system. The simulation and experiment demonstrate that the motion capture precision is significantly improved by 16.79%and 7.16%respectively in comparison to the traditional calibration method.
基金funded by the"14th Five-Year Plan"Civil Aerospace Pre-research Project of China(Grant No.D010301).
文摘Reusable and flexible capturing of space debris is highly required in future aerospace technologies.A tendon-actuated flexible robotic arm is therefore proposed for capturing floating targets in this paper.Firstly,an accurate dynamic model of the flexible robotic arm is established by using the absolute nodal coordinate formulation(ANCF)in the framework of the arbitrary Lagrangian-Eulerian(ALE)description and the natural coordinate formulation(NCF).The contact and self-contact dynamics of the flexible robotic arm when bending and grasping an object are considered via a fast contact detection approach.Then,the dynamic simulations of the flexible robotic arm for capturing floating targets are carried out to study the influence of the position,size,and mass of the target object on the grasping performance.Finally,a principle prototype of the tendon-actuated flexible robotic arm is manufactured to validate the dynamic model.The corresponding grasping experiments for objects of various shapes are also conducted to illustrate the excellent performance of the flexible robotic arm.
基金supported by the National Natural Science Foundation of China(6157337461503408)
文摘An optimal midcourse trajectory planning approach that considers the capture region（CR） of the terminal guidance is proposed in this article based on the Gauss pseudospectral method（GPM）. Firstly, the planar CR of the proportional navigation in terminal guidance is analyzed and innovatively introduced in the midcourse trajectory planning problems, with the collision triangle（CT） serving as the ideal terminal states parameters of the midcourse phase, and the CR area serving as the robustness against target maneuvers. Secondly, the midcourse trajectory planning problem that considers the path, terminal and control constraints is formulated and the well-developed GPM is used to generate the nominal trajectory that meets the CR demands. The interceptor will reshape the trajectory only when the former CR fails to cover the target, which has loosened the critical demand for frequent trajectory modification. Finally, the simulations of four different scenarios are carried out and the results prove the effectiveness and optimality of the proposed method.
文摘The capture probability of interceptors has been deeply studied.Firstly,the definition of capture probability is analyzed.It is transformed into calculating the probability that the relative position vector between the target and the interceptor locates in a certain cone.The relative position vector and associated covariance matrix are projected in line-of-sight coordinates,and the 3-dimensional integral of a probability function in a cone is calculated to obtain the capture probability.The integral equation is a complicated expression of probability,and it is simplified to an explicit approximate expression according to some assumptions based on the characteristics of the engineering problems.The approximation precision is analyzed by comparative simulation difference,which indicates that approximate assumptions are reasonable.Utilizing the explicit expression,the characteristics of capture probability are analyzed respectively with the factors,such as the distance between the interceptor and the target,the precision of relative position vector,the maximum capture distance and the maximum field angle of interceptor seeker.
基金Project(2006AA04Z228) supported by National Hi-tech Research and Development Program of China
文摘The essential requirements of the end-effector of large space manipulator are capabilities of misalignment tolerance and soft capture.According to these requirements,an end-effector prototype combining the tendon-sheath transmission system with steel cable snaring mechanism was manufactured.An analysis method based on the coordinate transformation and the projection of key points of the mechanical interface was proposed,and it was a guideline of the end-effector design.Furthermore,the tendon-sheath transmission system was employed in the capture subassembly to reduce the inertia of the capture mechanism and enlarge the capture space.The capabilities of misalignment tolerance and soft capture were validated through the dynamic simulation in ADAMS software.The results of the capture simulation and experiment show that the end-effector has outstanding capabilities of misalignment tolerance and soft capture.The translation misalignments in radial directions are±100 mm,and angular misalignments about pitch and yaw are±15°.
基金supported by the National Natural Science Foundation of China (61673009)。
文摘Robotic systems are expected to play an increasingly important role in future space activities. The robotic on-orbital service, whose key is the capturing technology, becomes a research hot spot in recent years. This paper studies the dynamics modeling and impedance control of a multi-arm free-flying space robotic system capturing a non-cooperative target. Firstly, a control-oriented dynamics model is essential in control algorithm design and code realization. Unlike a numerical algorithm, an analytical approach is suggested. Using a general and a quasi-coordinate Lagrangian formulation, the kinematics and dynamics equations are derived.Then, an impedance control algorithm is developed which allows coordinated control of the multiple manipulators to capture a target.Through enforcing a reference impedance, end-effectors behave like a mass-damper-spring system fixed in inertial space in reaction to any contact force between the capture hands and the target. Meanwhile, the position and the attitude of the base are maintained stably by using gas jet thrusters to work against the manipulators' reaction. Finally, a simulation by using a space robot with two manipulators and a free-floating non-cooperative target is illustrated to verify the effectiveness of the proposed method.
基金Project(21878338)supported by the National Natural Science Foundation of ChinaProject(2015BAL04B02)supported by the National key Technology R&D Program of China+1 种基金Project(2018K2038)supported by the key Research and Development Project of Hunan Province,ChinaProject supported by Hunan Collaborative Innovation Center of Building Energy Conservation&Environmental Control,China
文摘Magnesium hydroxide(Mg(OH)2)has been considered as a potential solvent for CO2 removal of coal-fired power plant and biomass gas.The chemistry action and mass to transfer mechanism of CO2-H2O-Mg(OH)2 system in a slurry bubble column reactor was described,and a reliable computational model was developed.The overall mass transfer coefficient and surface area per unit volume were obtained using experimental approach and simulation with software assistance.The results show that the mass transfer process of CO2 absorbed by Mg(OH)2 slurry is mainly liquid-controlled,and slurry concentration and temperature are main contributory factors of volumetric mass transfer coefficient and liquid side mass transfer coefficient.High concentration of CO2 has an adverse effect on its absorption because it leads to the fast deposition of MgCO3·3H2O crystals on the surfaces of unreacted Mg(OH)2 particles,reducing the utilization ratio of magnesium hydroxide.Meanwhile,high CO3^2– ion concentration limits the dissolution of MgCO3 to absorb CO2 continually.Concentration of 0.05 mol/L Mg(OH)2,15%vol CO2 gas and operation temperature at 35℃are recommended for this CO2 capture system.
基金Project(51778226)supported by the National Natural Science Foundation of ChinaProject(2018JJ3159)supported by the Hunan Provincial Natural Science Foundation for Youths,China。
文摘Ferrocene-based porous organic polymer(FcPOP) was constructed with ferrocene and porphyrin derivatives as building blocks via Schiff-base coupling. FcPOP was well characterized, and exhibited good thermal stability, high porosity, microporous structure, and homogeneous pore size distribution. Ferrocene blocks with highly electron-rich characteristics endowed Fc POP with excellent adsorption capacity of CO2 and methyl violet. The kinetic study indicated adsorption of methyl violet onto FcPOP mainly complied with pesudo-second order model. The maximum adsorption capacity of FcPOP derived from Langmuir isotherm model reached up to 516 mg/g. More importantly, FcPOP could be easily regenerated and repeatedly employed for removal of methyl violet with high efficiency. Overall, FcPOP in the present study highlighted prospective applications in the field of gas capture and dyeing wastewater treatment.
基金the National Natural Science Foundation of China(61273090).
文摘The optical navigation errors of Mars probe in the capture stage depend closely on which targets are selected to be observed in the Mars system.As for this problem,an integrated navigation scheme is proposed wherein the optical observation is aided by one-way Doppler measurements.The errors are then analyzed respectively for the optical observation and one-way Doppler measurements.The real-time calculating scheme which exploits the extended Kalman filter(EKF)framework is designed for the integrated navigation.The simulation tests demonstrate that the errors of optical navigation,which select the Mars moon as the observation target,are relatively smaller than those in the Mars-orientation optical navigation case.On one hand,the integrated navigation errors do not depend on the selecting pattern of optical observation targets.On the other hand,the integrated navigation errors are significantly reduced as compared with those in the optical-alone autonomous navigation mode.
基金supported by the National Natural Science Foundation (21076101)Technological Support Project of Jiangsu Province(SBE 201000600)
文摘Several task-specific ionic liquids（TSILs） with weak alkalinity have been designed based on tetraalkyl-ammonium cation and L-alanine anion([N<sub>2222</sub>][L-Ala]) for the CO<sub>2</sub> absorption.[N<sub>2222</sub>][L-Ala]has been chosen as a green and efficient activator for methyldiethanolamine（MDEA）.The densities,viscosities and absorption properties of the equimolar[N<sub>2222</sub>][L-Ala]-MDEA blended absorbents were investigated.Low viscosity and density values support the idea that blended absorbents are preferred in the industrial applications.[N<sub>2222</sub>][L-Ala]-MDEA behave similarly to the aqueous counterparts but offer more advantages,such as large absorption capacities,fast absorption rate and relatively low damage to the environment.
