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Position error compensation of the multi-purpose overload robot in nuclear power plants
Qin, Guodong,Ji, Aihong,Cheng, Yong,Zhao, Wenlong,Pan, Hongtao,Shi, Shanshuang,Song, Yuntao Korean Nuclear Society 2021 Nuclear Engineering and Technology Vol.53 No.8
The Multi-Purpose Overload Robot (CMOR) is a key subsystem of China Fusion Engineering Test Reactor (CFETR) remote handling system. Due to the long cantilever and large loads of the CMOR, it has a large rigid-flexible coupling deformation that results in a poor position accuracy of the end-effector. In this study, based on the Levenberg-Marquardt algorithm, the spatial grid, and the linearized variable load principle, a variable parameter compensation model was designed to identify the parameters of the CMOR's kinematics models under different loads and at different poses so as to improve the trajectory tracking accuracy. Finally, through Adams-MATLAB/Simulink, the trajectory tracking accuracy of the CMOR's rigid-flexible coupling model was analyzed, and the end position error exceeded 0.1 m. After the variable parameter compensation model, the average position error of the end-effector became less than 0.02 m, which provides a reference for CMOR error compensation.
Error compensation for snake arm maintainer under variable loads
Guodong Qin,Huapeng Wu,Aihong Ji,Huan Shen,Qian Li,Qingfei Han,Zhikang Yang,Shikun Wen 대한기계학회 2023 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.37 No.2
The cable-driven snake arm maintainer (SAM) simplifies the electronics of the entire snake arm and is well suited for operation in narrow and high-risk environments. However, the structural features of the SAM, the large slenderness ratio and the effects of variable loads and rigid-flexible coupling deformation lead to large end position error. In order to improve the positional accuracy, a joint space error compensation model of a SAM is constructed using the matrix differentiation method. The error parameters under different loads and different poses are identified based on the principles of variable parameter error compensation and a linearized variable-load variable-parameter model. Parameter errors are then calculated by the Levenberg-Marquardt nonlinear damped least-squares algorithm. Finally, we verify the effectiveness of the proposed algorithm by simulation and error compensation experiments. The results of the study provide a theoretical basis for further accuracy improvement and application expansion of the SAM.
Research on the cable-driven endoscopic manipulator for fusion reactors
Guodong Qin,Yong Cheng,Aihong Ji,Hongtao Pan,Yang Yang,Zhixin Yao,Yuntao Song Korean Nuclear Society 2024 Nuclear Engineering and Technology Vol.56 No.2
In this paper, a cable-driven endoscopic manipulator (CEM) is designed for the Chinese latest compact fusion reactor. The whole CEM arm is more than 3000 mm long and includes end vision tools, an endoscopic manipulator/control system, a feeding system, a drag chain system, support systems, a neutron shield door, etc. It can cover a range of ±45° of the vacuum chamber by working in a wrap-around mode, etc., to meet the need for observation at any position and angle. By placing all drive motors in the end drive box via a cable drive, cooling, and radiation protection of the entire robot can be facilitated. To address the CEM motion control problem, a discrete trajectory tracking method is proposed. By restricting each joint of the CEM to the target curve through segmental fitting, the trajectory tracking control is completed. To avoid the joint rotation angle overrun, a joint limit rotation angle optimization method is proposed based on the equivalent rod length principle. Finally, the CEM simulation system is established. The rationality of the structure design and the effectiveness of the motion control algorithm are verified by the simulation.
JunSong Qin,Yan Lu,Dongxiao Niu,Guodong Zhu 보안공학연구지원센터 2016 International Journal of u- and e- Service, Scienc Vol.9 No.8
The medium and long term load forecasting is the basis of power planning, investment, production, scheduling and trade, which plays an important role in electric power safety and economic operation. In China, it has the increasing uncertainty and the uncertainty of random variation to forecast the medium and long term load. Thus we can regard it as a typical grey system. However, the traditional grey prediction method cannot be adapt to the needs of the load forecasting gradually. It need to be rich and perfect with the continuous improvement of power system complexity and power marketization degree. This paper studied the modelling mechanism of grey prediction model. Then we analyzed the problems existing in the model, including the boundary value problem, the background value structure problem and the least squares parameter identification problem. This paper put forward an optimization method to directly identify the boundary value x(0)(1), the developing coefficient a and grey coefficient b using ant colony algorithm according to the time response expression of GM(1,1) model, so that it established an optimized GM(1,1) prediction model based on ant colony algorithm. This model can fix the impact of boundary value, and also avoid the errors brought by the background value construction and the least squares parameter estimation. It can verify the effectiveness of the proposed optimization model through the load data simulation. And it can improve the prediction accuracy effectively.
( Pankajkumar Ramdas Waghmare ),( Pratima Pankajkumar Waghmare ),( Liwei Gao ),( Wan Sun ),( Yuqi Qin ),( Guodong Liu ),( Yinbo Qu ) 한국미생물생명공학회(구 한국산업미생물학회) 2021 Journal of microbiology and biotechnology Vol.31 No.5
Efficient cellulolytic enzyme production is important for the development of lignocellulose-degrading enzyme mixtures. However, purification of cellulases from their native hosts is time- and labor-consuming. In this study, a constitutive expression system was developed in Penicillium oxalicum for the secreted production of proteins. Using a constitutive polyubiquitin gene promoter and cultivating with glucose as the sole carbon source, nine cellulolytic enzymes of different origins with relatively high purity were produced within 48 h. When supplemented to a commercial cellulase preparation, cellobiohydrolase I from P. funiculosum and cellobiohydrolase II from Talaromyces verruculosus showed remarkable enhancing effects on the hydrolysis of steam-exploded corn stover. Additionally, a synergistic effect was observed for these two cellobiohydrolases during the hydrolysis. Taken together, the constitutive expression system provides a convenient tool for the production of cellulolytic enzymes, which is expected to be useful in the development of highly efficient lignocellulose-degrading enzyme mixtures.