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Proceedings Papers
Proc. ASME. IDETC-CIE2019, Volume 9: 15th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, V009T12A039, August 18–21, 2019
Paper No: DETC2019-97313
Abstract
This paper investigates the robust repetitive controller design with improved tracking performance for nano-manipulating systems with time delay. In order to handle the time delay caused by the analog-to-digital (A/D) conversion of the capacitive sensors with ultra high precision, we modify the conventional repetitive control structure where the design of low pass filter is formulated as an H ∞ optimization problem. For the purpose of tracking performance improvement, we further modify the structure of the low pass filter by shaping the sensitivity functions of the closed-loop system. With consideration of the existing of model uncertainties, the design of the modified low pass filter is also formulated as an H ∞ optimization of infinite dimensional systems. The effectiveness of the proposed repetitive control architecture is further verified by real time experiments on a piezo driven nano-stage, where significant tracking performance improvements are demonstrated comparing with the traditional repetitive controller.
Proceedings Papers
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A008, August 18–21, 2019
Paper No: DETC2019-97690
Abstract
In the present paper, we take the leaf spring based double parallel-guiding mechanism (DPGM) as a particular case study to investigate a parametric model by considering the stress stiffening effect of the temperature variation based on the beam constraint model (BCM). In particular, a model with the temperature variation term of the DPGM is derived by incorporating the elastic stretch induced by the thermal effect of the leaf spring flexure into the BCM. Different from the traditional BCM, the compliance calculated by the established model is no longer only affected by the external loads, but the thermal deformation generated by the temperature variation. Therefore the derived model can describe both the load-nonlinearity and the thermal-nonlinearity. Based on the analysis results of a basic parallelogram module (BPM), we obtain a model of the DPGM, and the finite element analysis (FEA) method is adopted to verify the proposed model. The proposed model is a general parametric method to characterize the mechanical property of the DPGM, which can be further explored to support the optimization and control of motion systems composed of leaf spring based compliant mechanisms.
Proceedings Papers
Proc. ASME. IDETC-CIE2017, Volume 5A: 41st Mechanisms and Robotics Conference, V05AT08A018, August 6–9, 2017
Paper No: DETC2017-68097
Abstract
In the present paper, we take the input and output decoupling into account and propose a 2-DOF parallel nanopositioner, which is composed of lever amplification mechanisms, compound parallelogram mechanisms and novel crosshair flexures. In order to demonstrate the decoupling performance improvement of the crosshair flexures, the stiffness model of the crosshair flexures and the kinetostatics model of the nanopositioner are established based on Castigliano’s theorem and the compliance matrix method. Accordingly, the input and output decoupling compliance matrix models are derived to demonstrate the excellent decoupling property of the crosshair flexures based nanopositioner, which is further verified by finite-element analysis and experimental results. The open-loop experiments on the prototype stage demonstrate the maximum stroke of the nanopositioner is up to 65μm and the cross axis coupling errors are less than 1.6%.
Proceedings Papers
Proc. ASME. IDETC-CIE2017, Volume 9: 13th ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications, V009T07A045, August 6–9, 2017
Paper No: DETC2017-67621
Abstract
This paper is concerned with the ultra high precision tracking control problem of a class of hysteretic systems with both external disturbances and model uncertainties. By integrating a time rate function of the input into the classical Prandtl-Ishlinskii operators, a rate-dependent Prandtl-Ishlinskii model is introduced to compensate the rate-dependent hysteresis of such systems. Furthermore, the resulting inverse compensation error is considered, and a finite-time convergent disturbance observer-based sliding mode control methodology is proposed to improve both the tracking accuracy and transient performance. In this control methodology, a finite-time convergent disturbance observer is employed to estimate various disturbances for accurate eliminations, where the inverse compensation error is regarded as a bounded disturbance. Meanwhile, a novel sliding mode controller is designed to achieve the finite-time stability of the closed-loop system. In particular, it can be proved that both the sliding variable and disturbance estimated error can converge to zero in a finite time. Finally, the proposed control architecture is applied to a PZT (piezoelectric transducer) actuated servo stage, where good hysteresis suppression capability and excellent tracking performance are demonstrated in the experimental results.
Proceedings Papers
Proc. ASME. IDETC-CIE2016, Volume 5A: 40th Mechanisms and Robotics Conference, V05AT07A021, August 21–24, 2016
Paper No: DETC2016-59897
Abstract
In the present paper, we take the complaint double parallel guiding mechanism as a particular case study to investigate a modified pseudo-rigid-body (MPRB) modeling approach for beam flexure based mechanisms by considering the nonlinear effects of the center-shift and the load-stiffening. In particular, through incorporating the elastic stretch of the beam flexure into the linear Bernoulli-Euler equation, a more accurate model of the beam flexure is derived. Accordingly an MPRB model for a beam flexure is established, which consists of two rigid links joined at a revolute joint and a torsional spring along the beam. Different from traditional PRB model, the location of the torsion spring is not only determined by the characteristic radius factor, but also a purely elastic stretch under the action of the axial force. Meanwhile, both the characteristic radius factor and the equivalent stiffness of the beam flexure are no longer constant values, but affected by the applied general tip load, especially the axial force. Based on the analysis results of a beam flexure, we obtain a more accurate model of the double parallel guiding mechanisms, which is further verified by the finite element analysis (FEA) results. The proposed MPRB model provides a more parametric method to predict the performance characteristics such as deformation capability, stiffness variation, as well as error motions of the beam flexure based complaint mechanisms, and offers a new look into the design and optimization of beam-based compliant mechanisms.
Journal Articles
Journal:
Journal of Fluids Engineering
Article Type: Research-Article
J. Fluids Eng. January 2017, 139(1): 011101.
Paper No: FE-16-1013
Published Online: October 10, 2016
Abstract
In this study, a double volute centrifugal pump with relative low efficiency and high vibration is redesigned to improve the efficiency and reduce the unsteady radial forces with the aid of unsteady computational fluid dynamics (CFD) analysis. The concept of entropy generation rate is applied to evaluate the magnitude and distribution of the loss generation in pumps and it is proved to be a useful technique for loss identification and subsequent redesign process. The local Euler head distribution (LEHD) can represent the energy growth from the blade leading edge (LE) to its trailing edge (TE) on constant span stream surface in a viscous flow field, and the LEHD is proposed to evaluate the flow field on constant span stream surfaces from hub to shroud. To investigate the unsteady internal flow of the centrifugal pump, the unsteady Reynolds-Averaged Navier–Stokes equations (URANS) are solved with realizable k –ε turbulence model using the CFD code FLUENT. The impeller is redesigned with the same outlet diameter as the baseline pump. A two-step-form LEHD is recommended to suppress flow separation and secondary flow encountered in the baseline impeller in order to improve the efficiency. The splitter blades are added to improve the hydraulic performance and to reduce unsteady radial forces. The original double volute is substituted by a newly designed single volute one. The hydraulic efficiency of the centrifugal pump based on redesigned impeller with splitter blades and newly designed single volute is about 89.2%, a 3.2% higher than the baseline pump. The pressure fluctuation in the volute is significantly reduced, and the mean and maximum values of unsteady radial force are only 30% and 26.5% of the values for the baseline pump.
Proceedings Papers
Proc. ASME. AJKFluids2015, Volume 2: Fora, V002T34A002, July 26–31, 2015
Paper No: AJKFluids2015-34110
Abstract
In this study, a double volute centrifugal pump of relative low efficiency and high vibration was redesigned with the aid of unsteady CFD analyses. The local Euler head distribution (LEHD) representing the energy growth from the blade leading edge to trailing edge on s1 stream surface in a viscous flow field was introduced to evaluate the flow on s1 stream surfaces from hub to shroud. To investigate the unsteady internal flow of the centrifugal pump, the unsteady Reynolds-averaged Navier-Stokes equations (URANS) were solved with realizable k-ε turbulence model using the CFD code FLUENT. The impeller was redesigned with the same outlet diameter as prototype pump. A two-step-form LEHD was recommended to suppress flow separation and secondary flow encountered in the prototype impeller to improve the efficiency. The splitter was added to improve the hydraulic performance and reduce unsteady radial forces. The original double volute was substituted by a newly designed single volute. The hydraulic efficiency of the redesigned centrifugal pump is 89.2%, 3.2% higher than the prototype pump. The pressure fluctuation in volute is significantly reduced and the mean and max values of unsteady radial force are only 30% and 26.5% of the prototype pump.
Journal Articles
Journal:
Journal of Fluids Engineering
Article Type: Research-Article
J. Fluids Eng. October 2015, 137(10): 101205.
Paper No: FE-14-1579
Published Online: October 1, 2015
Abstract
Modern pumps are designed to guarantee a sufficiently large operating range or to satisfy the performance requirements relative to more than one operating point. This study applies trailing-edge (TE) modification method based on TE rounding in the suction surface to widen the operating range of a mixed-flow pump. The effects of TE modification on the performance and internal flow of the mixed-flow pump are investigated through computational fluid dynamics (CFD) analysis. Local Euler head distribution is introduced to reveal the pattern of energy growth along the blade-aligned (BA) streamwise location. A pump model with TE modification is tested, and numerical results agree well with experimental data. The results show that TE modification significantly improves pump efficiency in the high flow rate region by more than 10%. The best pattern of normalized local Euler head distribution (NLEHD) is a convex curve of nearly constant growth rate. The overall heads are also improved, and the flow near the exit of the impeller exhibits better uniformity. This finding demonstrates that a small change in the TE of the impeller can influence flow structure in most areas of impeller channels and that the local Euler head distribution is closely related to pump efficiency. TE modification can effectively improve the performance of the mixed-flow pump with high flow rate.
eBook Chapter
Series: ASME Press Select Proceedings
Publisher: ASME Press
Published: 2013
ISBN: 9780791860182
Abstract
This paper focuses on the research of collision avoidance local path planning for mobile robots, which is to find a collision-free path from the source position to the destination position among unknown obstacles under the guidance of the global path planning. The paper researches into the local path planning problem in the environment which the shape and location of obstacles is unknown, and proposes a new path planning method of collision avoidance. It realizes the collision avoidance by the path planning method likes the artificial potential energy field based on the grid-type obstacle environment. The method has a low complexity and high efficiency, and results out a valid collision-free path. In this paper, the details of the algorithm are introduced.