The disturbance torque of aerostatic bearings is in the same order of the reaction wheel, which causes difficulty in evaluation of the designed attitude control strategy of a nano-satellite based on the aerostatic bea...The disturbance torque of aerostatic bearings is in the same order of the reaction wheel, which causes difficulty in evaluation of the designed attitude control strategy of a nano-satellite based on the aerostatic bearing. Two approaches are proposed to model the disturbance torque. Firstly, the gravity induced moment,the vortex torque, and the damping moment are modeled separately. However, the vortex torque and the damping moment are coupled with each other as both of them are caused by the viscosity. In the second approach, the coupling effect is considered. A nano-satellite is constructed based on aerostatic bearing. The time history of the free rotation rate from an initial speed is measured by the gyro, which is further used to calculate the rotation angle and acceleration. The static vortex torque is measured via the removable micro-torque measurement system. Based on these data, the model parameters are identified and modeling errors are presented. Results show that the second model is more precise.The root mean squire error is less than 0.5×10^（-4） N·m and the relative error of the static vortex torque is 0.16%.展开更多
This study presents analysis, control and comparison of three hybrid approaches for the direct torque control (DTC) of the dual star induction motor (DSIM) drive. Its objective consists of combining three different he...This study presents analysis, control and comparison of three hybrid approaches for the direct torque control (DTC) of the dual star induction motor (DSIM) drive. Its objective consists of combining three different heuristic optimization techniques including PID-PSO, Fuzzy-PSO and GA-PSO to improve the DSIM speed controlled loop behavior. The GA and PSO algorithms are developed and implemented into MATLAB. As a result, fuzzy-PSO is the most appropriate scheme. The main performance of fuzzy-PSO is reducing high torque ripples, improving rise time and avoiding disturbances that affect the drive performance.展开更多
Neural networks require a lot of training to understand the model of a plant or a process. Issues such as learning speed, stability, and weight convergence remain as areas of research and comparison of many training a...Neural networks require a lot of training to understand the model of a plant or a process. Issues such as learning speed, stability, and weight convergence remain as areas of research and comparison of many training algorithms. The application of neural networks to control interior permanent magnet synchronous motor using direct torque control （DTC） is discussed. A neural network is used to emulate the state selector of the DTC. The neural networks used are the back-propagation and radial basis function. To reduce the training patterns and increase the execution speed of the training process, the inputs of switching table are converted to digital signals, i.e., one bit represent the flux error, one bit the torque error, and three bits the region of stator flux. Computer simulations of the motor and neural-network system using the two approaches are presented and compared. Discussions about the back-propagation and radial basis function as the most promising training techniques are presented, giving its advantages and disadvantages. The system using back-propagation and radial basis function networks controller has quick parallel speed and high torque response.展开更多
Tire and rubber track interchangeable chassis combines the advantages of tire and rubber track,which can greatly improve the maneuverability of military construction machinery.However,there is almost no effective calc...Tire and rubber track interchangeable chassis combines the advantages of tire and rubber track,which can greatly improve the maneuverability of military construction machinery.However,there is almost no effective calculation model for the real-time static steering torque.When the relative sliding speed is greater than 0.01 m/s,the influence of friction heating can not be ignored.An improved LuGre model is established to calculate the static real-time steering torque of tire and rubber track interchangeable chassis.Firstly,the friction heating model between rubber and ground is established.Combined with the influence of temperature on the dynamic performance of rubber material,the influence of friction heating on the stiffness and friction coefficient of rubber track is analyzed,and the improved LuGre friction model is established.The steering torque of tire and rubber track interchangeable chassis is affected by rubber material properties,steering speed,pavement type,and ambient temperature.Compared with the original Lu Gre model,the improved LuGre model captures the change in friction torque during multiple in-situ turns due to frictional heating.The error with the experimental data is small,which verifies the effectiveness of the improved LuGre model.展开更多
A flux linkage compensation field oriented control (FOC) method was proposed to suppress the speed and torque ripples of a brushless wound-field synchronous motor in its starting process. The starting process was anal...A flux linkage compensation field oriented control (FOC) method was proposed to suppress the speed and torque ripples of a brushless wound-field synchronous motor in its starting process. The starting process was analyzed and the model of wound-field synchronous electric machine was established. The change of field current of the electric machine was described mathematically for simplified exciter and rotate rectifier. Based on the traditional field control, the flux linkage compensation was introduced in d-axis current to counteract the flux ripple. Some simulation and preliminary experiments were implemented. The results show that the proposed method is feasible and effective.展开更多
The direct torque control of the dual star induction motor(DTC-DSIM) using conventional PI controllers is characterized by unsatisfactory performance, such as high ripples of torque and flux, and sensitivity to parame...The direct torque control of the dual star induction motor(DTC-DSIM) using conventional PI controllers is characterized by unsatisfactory performance, such as high ripples of torque and flux, and sensitivity to parametric variations. Among the most evoked control strategies adopted in this field to overcome these drawbacks presented in classical drive, it is worth mentioning the use of the second order sliding mode control(SOSMC) based on the super twisting algorithm(STA) combined with the fuzzy logic control(FSOSMC). In order to realize the optimal control performance, the FSOSMC parameters are adjusted using an optimization algorithm based on the genetic algorithm(GA). The performances of the envisaged control scheme, called G-FSOSMC, are investigated against G-SOSMC, G-PI and BBO-FSOSMC algorithms. The proposed controller scheme is efficient in reducing the torque and flux ripples, and successfully suppresses chattering. The effects of parametric uncertainties do not affect system performance.展开更多
A global fast terminal sliding mode(GFTSM)-based model predictive torque control(MPTC)strategy is developed for permanent magnet synchronous motor(PMSM)drive system with only one phase current sensor.Generally two pha...A global fast terminal sliding mode(GFTSM)-based model predictive torque control(MPTC)strategy is developed for permanent magnet synchronous motor(PMSM)drive system with only one phase current sensor.Generally two phase-current sensors are indispensable for MPTC.In response to only one phase current sensor available and the change of stator resistance,a novel adaptive observer for estimating the remaining two phase currents and time-varying stator resistance is proposed to perform MPTC.Moreover,in view of the variation of system parameters and external disturbance,a new GFTSM-based speed regulator is synthesized to enhance the drive system robustness.In this paper,the GFTSM,based on sliding mode theory,employs the fast terminal sliding mode in both the reaching stage and the sliding stage.The resultant GFTSM-based MPTC PMSM drive system with single phase current sensor has excellent dynamical performance which is very close to the GFTSM-based MPTC PMSM drive system with two-phase current sensors.On the other hand,compared with proportional-integral(PI)-based and sliding mode(SM)-based MPTC PMSM drive systems,it possesses better dynamical response and stronger robustness as well as smaller total harmonic distortion(THD)index of three-phase stator currents in the presence of variation of load torque.The simulation results validate the feasibility and effectiveness of the proposed scheme.展开更多
Alternating current electrical dynamometer is a common device to measure the torque of engines, such as the gasoline engine. In order to solve the problems such as high cost, high energy consumption and complicated me...Alternating current electrical dynamometer is a common device to measure the torque of engines, such as the gasoline engine. In order to solve the problems such as high cost, high energy consumption and complicated measurement system which exists in the direct measurement on the torque of alternating current electrical dynamometer, copper loss and iron loss are taken as two key factors and a soft-sensing model on the torque of alternating current electrical dynamometer is established using the fuzzy least square support vector machine (FLS-SVM). Then, the FLS-SVM parameters such as penalty factor and kernel parameter are optimized by adaptive genetic algorithm, torque soft-sensing is investigated in the alternating current electrical dynamometer, as well as the energy feedback efficiency and energy consumption during the measurement phase of a gasoline engine loading continual test is obtained. The results show that the minimum soft-sensing error of torque is about 0.0018, and it fluctuates within a range from -0.3 to 0.3 N·m. FLS-SVM soft-sensing method can increase by 1.6% power generation feedback compared with direct measurement, and it can save 500 kJ fuel consumption in the gasoline engine loading continual test. Therefore, the estimation accuracy of the soft measurement model on the torque of alternating current electrical dynamometer including copper loss and iron loss is high and this indirect measurement method can be feasible to reduce production cost of the alternating current electrical dynamometer and energy consumption during the torque measurement phase of a gasoline engine, replacing the direct method of torque measurement.展开更多
In the applications of joint control and robot movement,the joint torque estimation has been treated as an effective technique and widely used.Researches are made to analyze the kinematic and compliance model of the r...In the applications of joint control and robot movement,the joint torque estimation has been treated as an effective technique and widely used.Researches are made to analyze the kinematic and compliance model of the robot joint with harmonic drive to acquire high precision torque output.Through analyzing the structures of the harmonic drive and experiment apparatus,a scheme of the proposed joint torque estimation method based on both the dynamic characteristics and unscented Kalman filter(UKF)is designed and built.Based on research and scheme,torque estimation methods in view of only harmonic drive compliance model and compliance model with the Kalman filter are simulated as guidance and reference to promote the research on the torque estimation technique.Finally,a promoted torque estimation method depending on both harmonic drive compliance model and UKF is designed,and simulation results compared with the measurements of a commercial torque sensor,have verified the effectiveness of the proposed method.展开更多
Double helix DNAs become intertwined around one another during replication and recombination.Here we used magnetic tweezers to make braided DNA molecules and measured their torques under various catenations(Ca)at forc...Double helix DNAs become intertwined around one another during replication and recombination.Here we used magnetic tweezers to make braided DNA molecules and measured their torques under various catenations(Ca)at forces ranging from 0.3 to 8 pN.Images of braided DNA constructs under tensions were captured by scanning electron microscopy which showed major and minor grooves of DNAs and plectonemes of the braids.When the two DNA molecules were braided,the extension decreased as the catenation increased from 0 to 50 turns.We used a thermodynamic Maxwell relation to deduce the torque by integrating the change in the braid extension as a function of the force.The torque increased with the catenation,force and intertether distance until the catenation reached a buckling point.Under the condition of 2 pN force and Ca=20,the torque was computed to be 31,21 and 15 pN nm for the braids of which the intertether distances were 54%,31%and 26%of the DNA contour length,respectively.At an 8.03 pN holding force,the torque was computed to be 76 pN nm as the catenation increased from 0 to 30 turns,or as the catenation density varied from 0 to 0.053.The torque reached a plateau when the catenation increased above 20,indicating formation of braid-plectonemes.The twist modulus increased with the catenation prior to reaching a peak.Before reaching the peak,the moduli were higher than those of a single twisted DNA under the same catenation and applied force.Our experimental data agrees well with the calculation results by a recently developed semiflexible polymer model.Our measurements of the nonlinear torque of the braid establish new fundamental properties of DNA intertwining,which is key to understanding DNA replication and gene expression.The speaker will also introduce briefly other projects in the Xiao group including direct measurements of theforce spectrum of single unlabeled proteins such as adhesive nano-fibers for biofilm,the screening of integrin-targeted peptides drugs by single cell approaches,and the micromechanical approach for determining the survival rate of stem cells.展开更多
The gas torque in a twin-rotor piston engine(TRPE) was modeled using adiabatic approximation with instantaneous combustion. The first prototype of TRPE was manufactured. This prototype is intended for high power densi...The gas torque in a twin-rotor piston engine(TRPE) was modeled using adiabatic approximation with instantaneous combustion. The first prototype of TRPE was manufactured. This prototype is intended for high power density engines and can produce 36 power strokes per shaft revolution. Compared with the conventional engines, the vector sum of combustion gas forces acting on each rotor piston in TRPE is a pure torque, and the combustion gas rotates the rotors while compresses the gas in the compression chamber at the same time. Mathematical modeling of gas force transmission was built. Expression for gas torque on each rotor was derived. Different variation patterns of the volume change of working chamber were introduced. The analytical and numerical results is presented to demonstrate the main characteristics of gas torque. The results show that the value of gas torque in TRPE falls to be less than zero before the combustion phase is finished; the time for one stroke is 30° in terms of the rotating angle of the output shaft; gas torque in one complete revolution of the output shaft has a period which is equal to 60° and it is necessary to put off the moment when gas torque becomes zero in order to export the maximum energy.展开更多
The design of notch and barrier was optimized in order to improve the characteristics of constant torque while minimizing the cogging torque that occurs as a result of teeth and slot structure. The barrier was install...The design of notch and barrier was optimized in order to improve the characteristics of constant torque while minimizing the cogging torque that occurs as a result of teeth and slot structure. The barrier was installed in order to minimize the cogging torque and torque ripple by finite element method (FEM) with a reduced barrier width toward the center of magnetic pole. The position and width of notch, which can offset cogging torque, can be calculated with energy distribution of air-gap using Fourier series. The optimized model demonstrates a 60% decrease in the cogging torque, a 75.3% decrease in the torque ripple and a 3% increase in the operating torque when compared with the basic model.展开更多
The present research introduces a unique concept of scarf joint technique in friction stir welding(FSW) of aluminum alloy AA 6061-T6 plates and an investigation on weld quality.A new joint configuration with two disti...The present research introduces a unique concept of scarf joint technique in friction stir welding(FSW) of aluminum alloy AA 6061-T6 plates and an investigation on weld quality.A new joint configuration with two distinct scarf angles(75°and 60°) was considered in this study.The various aspects of welding were compared with contemporary simple square butt(SSB) joint configuration.Welding was carried out at a constant tool rotation speed(TRS),tool traverse speed(TTS) and tool tilt angle of 1100 rpm,2 mm/s and2°,respectively.The results are analyzed in terms of force and torque distribution,microstructure,macrostructure,and mechanical property perspective for different joint configurations.The study reveals the minimum amount of force and torque at 60°scarf angle joint configuration compared to that of square butt joint configuration.Macro study shows that all the joints were defect-free,and a prominent onion ring was present in the lower portion of the weld nugget(WN).Fine equiaxed grains with a minimum average grain size diameter of 6.82 μm were obtained in the WN of scarf joint configuration(SJC).The maximum ultimate tensile strength(UTS) and maximum average NZ hardness of 267 MPa and83.82 HV0.1were obtained in SJC3 at a scarf angle of 60°.It has been observed from the investigation that the joint efficiency increases from 72.5%(SSB) to 86%(SJC3) at a 60° scarf angle.This unique characteristic may lay an impetus on probable joint strength enhancement technique without increasing the production cost.展开更多
In order to restore force sensation to robot-assisted minimally invasive surgery(RMIS),design and performance evaluation of a miniature 6-axis force/torque sensor for force feedback is presented.Based on the resistive...In order to restore force sensation to robot-assisted minimally invasive surgery(RMIS),design and performance evaluation of a miniature 6-axis force/torque sensor for force feedback is presented.Based on the resistive sensing method,a flexural-hinged Stewart platform is designed as the flexible structure,and a straightforward optimization method considering the force and sensitivity isotropy of the sensor is proposed to determine geometric parameters which are best suited for the given external loads.The accuracy of this method is preliminarily discussed by finite element methods(FEMs).The sensor prototype is fabricated with the development of the electronic system.Calibration and dynamic loading tests for this sensor prototype are carried out.The working ranges of this sensor prototype are 30 N and 300 N·mm,and resolutions are 0.08 N in radial directions,0.25 N in axial direction,and 2.4 N·mm in rotational directions.It also exhibits a good capability for a typical dynamic force sensing at a frequency close to the normal heart rate of an adult.The sensor is compatible with surgical instruments for force feedback in RMIS.展开更多
基金supported by the National Natural Science Foundation of China(1167209351705109)+2 种基金the Special Foundation of Heilongjiang Postdoctoral Science(LBH-TZ1609)the Open Fund of National Defense Key Discipline Laboratory of Micro-Spacecraft Technology(HIT.KLOF.MST.201507)the Fundamental Research Funds for the Central Universities(HIT.NSRIF.201622)
文摘The disturbance torque of aerostatic bearings is in the same order of the reaction wheel, which causes difficulty in evaluation of the designed attitude control strategy of a nano-satellite based on the aerostatic bearing. Two approaches are proposed to model the disturbance torque. Firstly, the gravity induced moment,the vortex torque, and the damping moment are modeled separately. However, the vortex torque and the damping moment are coupled with each other as both of them are caused by the viscosity. In the second approach, the coupling effect is considered. A nano-satellite is constructed based on aerostatic bearing. The time history of the free rotation rate from an initial speed is measured by the gyro, which is further used to calculate the rotation angle and acceleration. The static vortex torque is measured via the removable micro-torque measurement system. Based on these data, the model parameters are identified and modeling errors are presented. Results show that the second model is more precise.The root mean squire error is less than 0.5×10^（-4） N·m and the relative error of the static vortex torque is 0.16%.
基金Project supported by Faculty of Technology,Department of Electrical Engineering,University of Batna,Algeria
文摘This study presents analysis, control and comparison of three hybrid approaches for the direct torque control (DTC) of the dual star induction motor (DSIM) drive. Its objective consists of combining three different heuristic optimization techniques including PID-PSO, Fuzzy-PSO and GA-PSO to improve the DSIM speed controlled loop behavior. The GA and PSO algorithms are developed and implemented into MATLAB. As a result, fuzzy-PSO is the most appropriate scheme. The main performance of fuzzy-PSO is reducing high torque ripples, improving rise time and avoiding disturbances that affect the drive performance.
基金the National Natural Science Foundation of China (60374032).
文摘Neural networks require a lot of training to understand the model of a plant or a process. Issues such as learning speed, stability, and weight convergence remain as areas of research and comparison of many training algorithms. The application of neural networks to control interior permanent magnet synchronous motor using direct torque control （DTC） is discussed. A neural network is used to emulate the state selector of the DTC. The neural networks used are the back-propagation and radial basis function. To reduce the training patterns and increase the execution speed of the training process, the inputs of switching table are converted to digital signals, i.e., one bit represent the flux error, one bit the torque error, and three bits the region of stator flux. Computer simulations of the motor and neural-network system using the two approaches are presented and compared. Discussions about the back-propagation and radial basis function as the most promising training techniques are presented, giving its advantages and disadvantages. The system using back-propagation and radial basis function networks controller has quick parallel speed and high torque response.
基金funded by the National Key Research and Development Program of China(Grant No.2016YFC0802900)。
文摘Tire and rubber track interchangeable chassis combines the advantages of tire and rubber track,which can greatly improve the maneuverability of military construction machinery.However,there is almost no effective calculation model for the real-time static steering torque.When the relative sliding speed is greater than 0.01 m/s,the influence of friction heating can not be ignored.An improved LuGre model is established to calculate the static real-time steering torque of tire and rubber track interchangeable chassis.Firstly,the friction heating model between rubber and ground is established.Combined with the influence of temperature on the dynamic performance of rubber material,the influence of friction heating on the stiffness and friction coefficient of rubber track is analyzed,and the improved LuGre friction model is established.The steering torque of tire and rubber track interchangeable chassis is affected by rubber material properties,steering speed,pavement type,and ambient temperature.Compared with the original Lu Gre model,the improved LuGre model captures the change in friction torque during multiple in-situ turns due to frictional heating.The error with the experimental data is small,which verifies the effectiveness of the improved LuGre model.
基金Sponsored by the NSFC General Project (51177135)the Key Project of Natural Science Foundation of Shaanxi Province (2011GZ013)
文摘A flux linkage compensation field oriented control (FOC) method was proposed to suppress the speed and torque ripples of a brushless wound-field synchronous motor in its starting process. The starting process was analyzed and the model of wound-field synchronous electric machine was established. The change of field current of the electric machine was described mathematically for simplified exciter and rotate rectifier. Based on the traditional field control, the flux linkage compensation was introduced in d-axis current to counteract the flux ripple. Some simulation and preliminary experiments were implemented. The results show that the proposed method is feasible and effective.
基金Project supported by the LEB Research LaboratoryDepartment of Electrical Engineering,University of Batna 2, Algeria。
文摘The direct torque control of the dual star induction motor(DTC-DSIM) using conventional PI controllers is characterized by unsatisfactory performance, such as high ripples of torque and flux, and sensitivity to parametric variations. Among the most evoked control strategies adopted in this field to overcome these drawbacks presented in classical drive, it is worth mentioning the use of the second order sliding mode control(SOSMC) based on the super twisting algorithm(STA) combined with the fuzzy logic control(FSOSMC). In order to realize the optimal control performance, the FSOSMC parameters are adjusted using an optimization algorithm based on the genetic algorithm(GA). The performances of the envisaged control scheme, called G-FSOSMC, are investigated against G-SOSMC, G-PI and BBO-FSOSMC algorithms. The proposed controller scheme is efficient in reducing the torque and flux ripples, and successfully suppresses chattering. The effects of parametric uncertainties do not affect system performance.
基金supported by the National Natural Science Foundation of China(61463025).
文摘A global fast terminal sliding mode(GFTSM)-based model predictive torque control(MPTC)strategy is developed for permanent magnet synchronous motor(PMSM)drive system with only one phase current sensor.Generally two phase-current sensors are indispensable for MPTC.In response to only one phase current sensor available and the change of stator resistance,a novel adaptive observer for estimating the remaining two phase currents and time-varying stator resistance is proposed to perform MPTC.Moreover,in view of the variation of system parameters and external disturbance,a new GFTSM-based speed regulator is synthesized to enhance the drive system robustness.In this paper,the GFTSM,based on sliding mode theory,employs the fast terminal sliding mode in both the reaching stage and the sliding stage.The resultant GFTSM-based MPTC PMSM drive system with single phase current sensor has excellent dynamical performance which is very close to the GFTSM-based MPTC PMSM drive system with two-phase current sensors.On the other hand,compared with proportional-integral(PI)-based and sliding mode(SM)-based MPTC PMSM drive systems,it possesses better dynamical response and stronger robustness as well as smaller total harmonic distortion(THD)index of three-phase stator currents in the presence of variation of load torque.The simulation results validate the feasibility and effectiveness of the proposed scheme.
基金Project(11772126) supported by the National Natural Science Foundation of China
文摘Alternating current electrical dynamometer is a common device to measure the torque of engines, such as the gasoline engine. In order to solve the problems such as high cost, high energy consumption and complicated measurement system which exists in the direct measurement on the torque of alternating current electrical dynamometer, copper loss and iron loss are taken as two key factors and a soft-sensing model on the torque of alternating current electrical dynamometer is established using the fuzzy least square support vector machine (FLS-SVM). Then, the FLS-SVM parameters such as penalty factor and kernel parameter are optimized by adaptive genetic algorithm, torque soft-sensing is investigated in the alternating current electrical dynamometer, as well as the energy feedback efficiency and energy consumption during the measurement phase of a gasoline engine loading continual test is obtained. The results show that the minimum soft-sensing error of torque is about 0.0018, and it fluctuates within a range from -0.3 to 0.3 N·m. FLS-SVM soft-sensing method can increase by 1.6% power generation feedback compared with direct measurement, and it can save 500 kJ fuel consumption in the gasoline engine loading continual test. Therefore, the estimation accuracy of the soft measurement model on the torque of alternating current electrical dynamometer including copper loss and iron loss is high and this indirect measurement method can be feasible to reduce production cost of the alternating current electrical dynamometer and energy consumption during the torque measurement phase of a gasoline engine, replacing the direct method of torque measurement.
基金supported by the National Natural Science Foundation of China(51879055)。
文摘In the applications of joint control and robot movement,the joint torque estimation has been treated as an effective technique and widely used.Researches are made to analyze the kinematic and compliance model of the robot joint with harmonic drive to acquire high precision torque output.Through analyzing the structures of the harmonic drive and experiment apparatus,a scheme of the proposed joint torque estimation method based on both the dynamic characteristics and unscented Kalman filter(UKF)is designed and built.Based on research and scheme,torque estimation methods in view of only harmonic drive compliance model and compliance model with the Kalman filter are simulated as guidance and reference to promote the research on the torque estimation technique.Finally,a promoted torque estimation method depending on both harmonic drive compliance model and UKF is designed,and simulation results compared with the measurements of a commercial torque sensor,have verified the effectiveness of the proposed method.
基金supported by the National Science Foundation of China ( 11772133, 11372116)the Fundamental Research Funds for the Central Universities ( HUST 0118012051)supported by the NIH through grants ( R01-GM105847,U54-CA193419)
文摘Double helix DNAs become intertwined around one another during replication and recombination.Here we used magnetic tweezers to make braided DNA molecules and measured their torques under various catenations(Ca)at forces ranging from 0.3 to 8 pN.Images of braided DNA constructs under tensions were captured by scanning electron microscopy which showed major and minor grooves of DNAs and plectonemes of the braids.When the two DNA molecules were braided,the extension decreased as the catenation increased from 0 to 50 turns.We used a thermodynamic Maxwell relation to deduce the torque by integrating the change in the braid extension as a function of the force.The torque increased with the catenation,force and intertether distance until the catenation reached a buckling point.Under the condition of 2 pN force and Ca=20,the torque was computed to be 31,21 and 15 pN nm for the braids of which the intertether distances were 54%,31%and 26%of the DNA contour length,respectively.At an 8.03 pN holding force,the torque was computed to be 76 pN nm as the catenation increased from 0 to 30 turns,or as the catenation density varied from 0 to 0.053.The torque reached a plateau when the catenation increased above 20,indicating formation of braid-plectonemes.The twist modulus increased with the catenation prior to reaching a peak.Before reaching the peak,the moduli were higher than those of a single twisted DNA under the same catenation and applied force.Our experimental data agrees well with the calculation results by a recently developed semiflexible polymer model.Our measurements of the nonlinear torque of the braid establish new fundamental properties of DNA intertwining,which is key to understanding DNA replication and gene expression.The speaker will also introduce briefly other projects in the Xiao group including direct measurements of theforce spectrum of single unlabeled proteins such as adhesive nano-fibers for biofilm,the screening of integrin-targeted peptides drugs by single cell approaches,and the micromechanical approach for determining the survival rate of stem cells.
基金Project(51175500)supported by the National Natural Science Foundation of China
文摘The gas torque in a twin-rotor piston engine(TRPE) was modeled using adiabatic approximation with instantaneous combustion. The first prototype of TRPE was manufactured. This prototype is intended for high power density engines and can produce 36 power strokes per shaft revolution. Compared with the conventional engines, the vector sum of combustion gas forces acting on each rotor piston in TRPE is a pure torque, and the combustion gas rotates the rotors while compresses the gas in the compression chamber at the same time. Mathematical modeling of gas force transmission was built. Expression for gas torque on each rotor was derived. Different variation patterns of the volume change of working chamber were introduced. The analytical and numerical results is presented to demonstrate the main characteristics of gas torque. The results show that the value of gas torque in TRPE falls to be less than zero before the combustion phase is finished; the time for one stroke is 30° in terms of the rotating angle of the output shaft; gas torque in one complete revolution of the output shaft has a period which is equal to 60° and it is necessary to put off the moment when gas torque becomes zero in order to export the maximum energy.
基金Research financially supported by Human Resource Training Project for Regional Innovation of Ministry of Education,Science and Technology(MEST)National Research Foundation(NRF)the Second Stage of Brain Korea 21 Projects,Korea
文摘The design of notch and barrier was optimized in order to improve the characteristics of constant torque while minimizing the cogging torque that occurs as a result of teeth and slot structure. The barrier was installed in order to minimize the cogging torque and torque ripple by finite element method (FEM) with a reduced barrier width toward the center of magnetic pole. The position and width of notch, which can offset cogging torque, can be calculated with energy distribution of air-gap using Fourier series. The optimized model demonstrates a 60% decrease in the cogging torque, a 75.3% decrease in the torque ripple and a 3% increase in the operating torque when compared with the basic model.
基金the Ministry of Human Resource and Development,Government of India for providing the financial assistantship in the form of fellowship。
文摘The present research introduces a unique concept of scarf joint technique in friction stir welding(FSW) of aluminum alloy AA 6061-T6 plates and an investigation on weld quality.A new joint configuration with two distinct scarf angles(75°and 60°) was considered in this study.The various aspects of welding were compared with contemporary simple square butt(SSB) joint configuration.Welding was carried out at a constant tool rotation speed(TRS),tool traverse speed(TTS) and tool tilt angle of 1100 rpm,2 mm/s and2°,respectively.The results are analyzed in terms of force and torque distribution,microstructure,macrostructure,and mechanical property perspective for different joint configurations.The study reveals the minimum amount of force and torque at 60°scarf angle joint configuration compared to that of square butt joint configuration.Macro study shows that all the joints were defect-free,and a prominent onion ring was present in the lower portion of the weld nugget(WN).Fine equiaxed grains with a minimum average grain size diameter of 6.82 μm were obtained in the WN of scarf joint configuration(SJC).The maximum ultimate tensile strength(UTS) and maximum average NZ hardness of 267 MPa and83.82 HV0.1were obtained in SJC3 at a scarf angle of 60°.It has been observed from the investigation that the joint efficiency increases from 72.5%(SSB) to 86%(SJC3) at a 60° scarf angle.This unique characteristic may lay an impetus on probable joint strength enhancement technique without increasing the production cost.
基金Project(SS2012AA041601)supported by National High Technology Research and Development Program of ChinaProject(81201150)supported by the National Natural Science Foundation of China
文摘In order to restore force sensation to robot-assisted minimally invasive surgery(RMIS),design and performance evaluation of a miniature 6-axis force/torque sensor for force feedback is presented.Based on the resistive sensing method,a flexural-hinged Stewart platform is designed as the flexible structure,and a straightforward optimization method considering the force and sensitivity isotropy of the sensor is proposed to determine geometric parameters which are best suited for the given external loads.The accuracy of this method is preliminarily discussed by finite element methods(FEMs).The sensor prototype is fabricated with the development of the electronic system.Calibration and dynamic loading tests for this sensor prototype are carried out.The working ranges of this sensor prototype are 30 N and 300 N·mm,and resolutions are 0.08 N in radial directions,0.25 N in axial direction,and 2.4 N·mm in rotational directions.It also exhibits a good capability for a typical dynamic force sensing at a frequency close to the normal heart rate of an adult.The sensor is compatible with surgical instruments for force feedback in RMIS.
