Abstract: The present disclosure relates to a method for generating a novel impedance configuration for a three-degree-of-freedom (3DOF) leg of a hydraulically-driven legged robot. The method includes: separately determining variations of input signals of an inner position-based control loop and an inner force-based control loop of a hydraulic drive unit of each joint based on an obtained mathematical model; generating a novel impedance configuration in which position-based control is performed on a hydraulic drive unit of a hip joint, and force-based control is performed on hydraulic drive units of a knee joint and an ankle joint in a hydraulic drive system of the leg of a to-be-controlled robot; and performing forward calculation by using the leg mathematical model, to obtain an actual position and a force variation of the foot of the leg of the to-be-controlled robot to control motion of the foot of the to-be-controlled robot within motion space.

Abstract: An image sensor structure and a method of fabricating the structure are disclosed, in image sensor structure, at least one die is bonded to pixel substrate by bonding first bonding layer to second bonding layer, and the die includes signal processing circuit and/or storage device for photosensitive elements in pixel substrate. The die is bonded to the pixel substrate so that the signal processing circuit and/or storage device is/are coupled to photosensitive elements in pixel substrate. In this way, signal processing and/or storage functions of the image sensor can be provided without additional occupation of the area of the pixel substrate, allowing for more photosensitive elements to be arranged on the pixel substrate with the same area and thus resulting in a larger photosensitive area. Moreover, less wiring is needed on the 2D plane of the pixel substrate, helping in reducing interference with signals and delays and improving imaging quality.

Abstract: A water-cooled column (4) used in a circulating fluidized bed boiler furnace is disclosed, wherein the water-cooled column is formed by connecting membrane water-cooled walls (41). The water-cooled column (4) includes a lower section (A), an upper section and a transition section. The lower section (A) is a single column and is provided with inner secondary air ports (400) on a side wall thereof. The upper section includes a plurality of sub-columns (B, C). The membrane water-cooled walls at the lower section (A) extend to the upper section through the transition section. Each of the sub-columns (B, C) is formed by connecting extension portions extending upward from respective membrane water-cooled walls (41) in the membrane water-cooled walls (41), which are connected to form the lower section (A), and the plurality of sub-columns (B, C) are separated from each other.

Abstract: A circulating fluidized bed boiler is disclosed.

Abstract: The present invention provides a circulating fluidized bed boiler, comprising: furnace side walls; a ceiling; an air distribution plate provided at a bottom of a furnace; and at least one air distribution cone provided on the air distribution plate, wherein each air distribution cone extends upwards from the air distribution plate into an interior of the furnace and has a shape gradually tapered in an extending direction, cone side walls which form the air distribution cone are provided with secondary air ports, the cone side walls are separated from the furnace side walls, and a furnace combustion space is formed and surrounded by the ceiling, the furnace side walls, the air distribution plate, and the cone side walls.

Abstract: A large-size circulating fluidized bed boiler, comprising: a furnace having a vertical furnace center line; and at least two groups of cyclones, each cyclone of each group of cyclones having an inlet gas pass communicated with the furnace. A furnace cross section formed by outer sidewalls and located at the inlet gas pass of the cyclone is a polygon having 2×n sides, and n is a positive integer greater than 1. The polygon is axially symmetric with respect to a perpendicular bisector of each side of the polygon, and when n is 2, the polygon is a square. Triangles formed by two endpoints of an inlet of the inlet gas pass of each cyclone at the cross section and an intersection of the furnace center line and the cross section are congruent. A single flow field in communication with each of the inlet is formed in the cross section.

Abstract: A water-cooled column (4) used in a circulating fluidized bed boiler furnace is disclosed, wherein the water-cooled column is formed by connecting membrane water-cooled walls (41). The water-cooled column (4) includes a lower section (A), an upper section and a transition section. The lower section (A) is a single column and is provided with inner secondary air ports (400) on a side wall thereof. The upper section includes a plurality of sub-columns (B, C). The membrane water-cooled walls at the lower section (A) extend to the upper section through the transition section. Each of the sub-columns (B, C) is formed by connecting extension portions extending upward from respective membrane water-cooled walls (41) in the membrane water-cooled walls (41), which are connected to form the lower section (A), and the plurality of sub-columns (B, C) are separated from each other.

Abstract: The present invention provides a circulating fluidized bed boiler, comprising: furnace side walls; a ceiling; an air distribution plate provided at a bottom of a furnace; and at least one air distribution cone provided on the air distribution plate, wherein each air distribution cone extends upwards from the air distribution plate into an interior of the furnace and has a shape gradually tapered in an extending direction, cone side walls which form the air distribution cone are provided with secondary air ports, the cone side walls are separated from the furnace side walls, and a furnace combustion space is formed and surrounded by the ceiling, the furnace side walls, the air distribution plate, and the cone side walls.

Abstract: A large-size circulating fluidized bed boiler, comprising: a furnace having a vertical furnace center line; and at least two groups of cyclones, each cyclone of each group of cyclones having an inlet gas pass communicated with the furnace. A furnace cross section formed by outer sidewalls and located at the inlet gas pass of the cyclone is a polygon having 2×n sides, and n is a positive integer greater than 1. The polygon is axially symmetric with respect to a perpendicular bisector of each side of the polygon, and when n is 2, the polygon is a square. Triangles formed by two endpoints of an inlet of the inlet gas pass of each cyclone at the cross section and an intersection of the furnace center line and the cross section are congruent. A single flow field in communication with each of the inlet is formed in the cross section.

Abstract: A circulating fluidized bed boiler is disclosed.