The rapid, stable, and undamaged picking of small-sized spherical fruits are one of the key technologies to improve the level of intelligent picking robots and reduce grading operations. Cherry tomatoes were selected as the research object in this work. Picking strategies of two-stage “Holding-Rotating” and finger-end grasping were determined. The end-effector was designed to separate the fruit from the stalk based on the linear motion of the constraint part and the rotating gripper. This work first studied the human hand-grasping of cherry tomatoes and designed the fingers with sinusoidal characteristics. The mathematical model of a single finger of the gripper was established. The structural parameters of the gripper were determined to meet the requirements of the grabbing range from 0 to 61.6 mm. Based on the simulation model, the constraint part was set to 6 speeds, and the fruit sizes were set to 20 mm, 30 mm, and 40 mm, respectively. When the speed was 0.08m/s, the results showed that the grabbing time was 0.5381 s, 0.387 s, and 0.2761 s, respectively, and the maximum grabbing force was 0.9717 N, 3.5077 N, and 4.0003 N now of clamping, respectively. It met the picking requirements of high speed and low loss. The criterions of two-index stability and undamaged were proposed, including the grasping index of the fixed value and the slip detection of variance to mean ratio. Therefore, the control strategy and algorithm based on two-stage and two-index for rapid, stable, and non-destructive harvesting of small fruit were proposed. The results of the picking experiment for seventy-two cherry tomatoes showed that the picking success rate was 95.82%, the average picking time was 4.86 s, the picking damage rate was 2.90%, the browning rate was 2.90% in 72 h, and the wrinkling rate was 1.49% in 72 h, which can meet the actual small spherical fruit picking requirements. The research will provide an idea for the flexible end-effectors with humanoid grasp function and provides a theoretical reference for small spherical fruit picking.
This paper first analyzes the climate characteristics of five typical cities in China, including Harbin, Beijing, Shanghai, Shenzhen and Kunming. Then, based on Grasshopper, Ladybug and Honeybee analysis software, according to the indoor layout of typical residential buildings, this research extracts design parameters such as the depth and width of different rooms and their window-to-wall ratios etc., to establish a climate responsive optimization design process with indoor lighting environment comfort, with heating and cooling demand as the objective functions. Meanwhile, based on Monte Carlo simulation data, ANN (Artificial Neural Network) is used to establish a prediction model to analyze the sensitivity of interior design parameters under different typical cities’ climatic conditions. The study results show that the recommended values for the total width and total depth of indoor units under the climatic conditions of each city are both approximately 14.97 m and 7.88 m. Among them, under the climatic conditions of Harbin and Shenzhen, the design parameters of residential interiors can take the recommended value of UDI optimal or nZEB optimal. While the recommended values of window-to-wall ratios for the north bedroom, master bedroom and living room in Shanghai residential interiors are 0.26, 0.32 and 0.33, respectively. The recommended value of the window-to-wall ratio of the master bedroom in Kunming residences is 0.36, and that of the remaining rooms is between 0.15 and 0.18. The recommended values of window-to-wall ratios for the master bedroom and living room in Beijing residences are 0.41 and 0.59, respectively, and that for the remaining rooms are 0.15. The multi-objective optimization process based on parametric performance simulation used in the study can effectively assist architects in making energy-saving design decisions in the preliminary stage, allowing architects to have a case to follow in the actual design operation process.
Corona discharge is a common phenomenon in power transmission lines external insulation, and it may cause serious defect if without effective detection. The ultraviolet (UV) imagery technology has been widely used to detect the corona discharge in industry in recent years, but some influence factors' functions are not definite. In this paper, the fracture aluminum strands which is common in power transmission lines were used as the electrode model while a SuperB ultraviolet imager were utilized to detect, the photon count rate was detected with different detect distance, electric field, aluminum strands length and UV gain were applied. Then the multivariate regression analysis (MRA) was taken to calculate the function between the photon count and the factors.
In recent years, increasingly prominent energy and environmental problems have pushed for higher requirements for buildings’ energy saving. According to the conventional energy-saving design method, the cooperative operation between architects, structural and equipment engineers and other professionals cannot run smoothly, so the energy-saving and emission reduction efficiency of the whole building cannot be improved effectively. The integrated design process (IDP) is a systematic method, which is applied in the scheme design stage and according to which the multi-level design factors of cities and buildings are considered comprehensively. It provides a concrete path of multi-specialty collaborative operation for the building’s climate responsive design. In this article, the development, operation process, software platform, evaluation and decision-making methods of the IDP are reviewed in a comprehensive manner. Finally, the prospect of IDP applied to the climate responsive design of buildings is analyzed, and some suggestions for future development are put forward. The IDP framework proposed in the research can provide a reference method for architectural climate responsive design practice and help formulate the future policy of energy-saving design.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.
hi@scite.ai
10624 S. Eastern Ave., Ste. A-614
Henderson, NV 89052, USA
Copyright © 2024 scite LLC. All rights reserved.
Made with 💙 for researchers
Part of the Research Solutions Family.