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RISS 인기검색어
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- 저자 : Guangping Fan (검색결과 2 건)
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Variable Impedance Control of Cable Actuated Continuum Manipulators
Guangping He,Yanan Fan,Tingting Su,Lei Zhao,Quanliang Zhao 제어·로봇·시스템학회 2020 International Journal of Control, Automation, and Vol.18 No.7
Continuum manipulators are a class of special compliant robots that have important potential applications in the field of human-machine interactive operations, or work in cluttered and constrained environments. In these application scenarios, the most popular operation tasks are those with coupling force-position constraints. To simultaneously stabilize the desired operation force and the position of the manipulator, variable impedance control issues of the cable driven continuum manipulators are investigated in this paper. On the basis of constructing a novelLyapunov function, a variable impedance control law is presented and the stability of the closed-loop system has also been analyzed. Then the operation space variable impedance control for a single segment cable driven continuum manipulator is realized by the aid of a pseudo-rigid-body model. Some numerical simulations also demonstrate the stability of the variable impedance control system.
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Experimental and theoretical analysis of element mercury adsorption on Fe3O4/Ag composites
Lu Dong,Jiangkun Xie,Guangping Fan,Yaji Huang,Jun Zhou,Qingke Sun,LiangWang,Zhengwen Guan,Di Jiang,Ye Wang 한국화학공학회 2017 Korean Journal of Chemical Engineering Vol.34 No.11
A novel magnetic nano-sorbent Fe3O4/Ag was synthesized and applied to capture the elemental mercury from the simulated flue gas. The morphology, components and crystal phase of the sorbents were characterized by transmission electron microscope (TEM), energy dispersive spectrometry (EDS) and X-ray diffraction (XRD), respectively. The mercury removal performance of the sorbents was investigated through the fixed-bed tests. The results indicated that silver was successfully loaded on the surface of Fe3O4 particles, which could significantly enhance the Hg0 removal performance of the sorbents. Flue gas components, including CO2, SO2, and NO, have little impact on the Hg0 removal performance of Fe3O4/Ag sorbents, while O2 has a slightly positive effect. The Hg0 removal efficiency decreased with the increasing of temperature, Hg0 inlet concentration and gas hourly space velocity. Only one broad mercury desorption peak at approximately 210 oC could be observed during the temperature-programmed desorption (TPD) process, which indicated that mercury species existing on the surface of Fe3O4/Ag sorbents might be elemental mercury instead of oxidized mercury. Furthermore, the reusability tests showed that the Fe3O4/Ag sorbents could be efficiently regenerated and reused. Finally, the theoretical analysis based on the DFT method showed that a weak chemisorption of Hg0 on Fe3O4 sorbents changed to a strong chemisorption when silver was loaded. The results of theoretical analysis conformed to the experiments results well.
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