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Bitao Yao,Zu-De Zhou,Lihui Wang,Wenjun Xu,Quan Liu 대한기계학회 2018 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.32 No.10
Sensor-less external force detection is important for industrial robots which are usually not equipped with external force sensors to be applied in physical human-robot interaction (pHRI). This paper adopts the dynamic models of the robot in both dynamic mode and quasistatic mode to detect the external force. In the dynamic mode, the inertia and friction parameters of the robot are identified with the weighted least squares. The excitation trajectory for parameter identification is optimised. The un-modelled peak points in the joint torque residual are removed by a statistical method. The torque changes of joints in quasi-static mode which are equivalent to the joint pre-sliding friction is modelled with a lumped parameter model, generalised Maxwell slip (GMS) element model. Therefore, there is no need for the switching between the friction models in different modes and this and facilitates the application of dynamic model in the external force detection. The dynamic models of robots both in dynamic mode and quasi-static mode and their effectiveness for external force detection in pHRI are verified by experimental results.
Characteristics of SiC inverter powertrains on common-mode EMI noise
Jia, Xiaoyu,Dong, Bitao,Wang, Hui,Hu, Changsheng,Xu, Dehong The Korean Institute of Power Electronics 2021 JOURNAL OF POWER ELECTRONICS Vol.21 No.2
This paper studies the characteristics of SiC inverter powertrains on common-mode (CM) EMI emission. First, a CM noise source model of an EV powertrain is built. Then, the factors of switching frequency, switching speed, and switching ringing on the CM noise source are analyzed. Finally, experiments on a conducted EMI test-bed are carried out to verify the influence of SiC inverters on conducted CM EMI emission in EV powertrains.
A novel ceramic GEM used for neutron detection
Zhou, Jianrong,Zhou, Xiaojuan,Zhou, Jianjin,Jiang, Xingfen,Yang, Jianqing,Zhu, Lin,Yang, Wenqin,Yang, Tao,Xu, Hong,Xia, Yuanguang,Yang, Gui-an,Xie, Yuguang,Huang, Chaoqiang,Hu, Bitao,Sun, Zhijia,Chen, Korean Nuclear Society 2020 Nuclear Engineering and Technology Vol.52 No.6
A novel ceramic Gas Electron Multiplier (GEM) has been developed to meet the demand of high counting rate for the neutron detection which is an alternative to <sup>3</sup>He-based detector at China Spallation Neutron Source (CSNS). An experiment was performed to measure the neutron transmittance of ceramic-GEM and FR4-GEM at the small angle neutron scattering (SANS) instrument. The result showed the ceramic-GEM has higher transmittance and less self-scattering especially for cold neutrons. One single ceramic GEM could give a gain of 10<sup>2</sup>-10<sup>4</sup> in the mixture gas of Ar and CO<sub>2</sub> (90%:10%) and its energy resolution was about 27.7% by using <sup>55</sup>Fe X ray of 5.9 keV. A prototype has been developed in order to investigate the performances of the ceramic GEM-based neutron detector. Several neutron beam tests, including detection efficiency, spatial resolution, two-dimensional imaging, and wavelength spectrum, were carried out at CSNS and China Mianyang Research Reactor (CMRR). The results show that the ceramic GEM-based neutron detector is a good candidate to measure the high intensity neutrons.