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: The present invention relates an elevating apparatus based on a hetero-oriented non-isometric, dual-spiral drive structure, comprising a first carrier and a second carrier, further comprising a first support and a second support that are telescoped together in a manner that they can rotate with respect to each other, the first support is provided with a first recessed portion and a first raised portion that shares the same spiral direction and spiral pitch, the second support is provided with a homo-oriented, isometric, dual-spiral second recessed portion that has a spiral direction different from that of the first recessed portion. The carrier of the present invention is provided in a simply-supported-beam, and the carrier force can be achieved without additional weight, and the operation is stable and reliable.

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: The present invention relates an elevating apparatus based on a hetero-oriented non-isometric, dual-spiral drive structure, comprising a first carrier and a second carrier, further comprising a first support and a second support that are telescoped together in a manner that they can rotate with respect to each other, the first support is provided with a first recessed portion and a first raised portion that shares the same spiral direction and spiral pitch, the second support is provided with a homo-oriented, isometric, dual-spiral second recessed portion that has a spiral direction different from that of the first recessed portion. The carrier of the present invention is provided in a simply-supported-beam, and the carrier force can be achieved without additional weight, and the operation is stable and reliable.

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: The present invention relates to a method and system for optimizing the joint hinge point position of a hydraulic tandem mechanism based on lightweight.

Abstract: A fuel cell system is disclosed, which includes an anode recirculation loop having a fuel cell stack for generating power, a flowmeter, a current sensor and a processor. The flowmeter is configured for measuring a fuel flow rate provided into the anode recirculation loop. The current sensor is configured for measuring a current drawn from the fuel cell stack. The processor is configured for determining a steam to carbon ratio in the anode recirculation loop based on the measured fuel flow rate and the measured current. The fuel cell system further includes a temperature sensor for measuring a temperature in the anode recirculation loop. The process is configured for determining the steam to carbon ration further based on the measured temperature. A method for operating the fuel cell system and a fuel cell power plant are also disclosed.

Abstract: A fuel cell system is disclosed, which includes an anode recirculation loop comprising a fuel cell stack for generating power, a flowmeter for measuring a fuel flow rate of a fuel provided into the anode recirculation loop, a current measuring device for measuring a current drawn from the fuel cell stack, a recycle ratio measuring device for measuring a recycle ratio in the anode recirculation loop, and a processor for estimating a fuel utilization of the fuel cell stack based on the measured fuel flow rate, the measured current and the measured recycle ratio. Methods for operating the fuel cell system are also disclosed.

Abstract: A fuel cell system is disclosed, which includes an anode recirculation loop comprising a fuel cell stack for generating power, a flowmeter for measuring a fuel flow rate of a fuel provided into the anode recirculation loop, a current measuring device for measuring a current drawn from the fuel cell stack, a recycle ratio measuring device for measuring a recycle ratio in the anode recirculation loop, and a processor for estimating a fuel utilization of the fuel cell stack based on the measured fuel flow rate, the measured current and the measured recycle ratio. Methods for operating the fuel cell system are also disclosed.

Abstract: A fuel cell system is disclosed, which includes an anode recirculation loop including a fuel cell stack for generating power, a fuel supply device for providing a fuel to the anode recirculation loop, an air supply device for providing air to a cathode of the fuel cell stack, a voltage monitoring device for monitoring a voltage of the fuel cell stack, and an anode protection controller. The anode protection controller decreases a current drawn from the fuel cell stack by a predetermined amount whenever the voltage of the fuel cell stack drops below a predetermined voltage threshold and decreases a fuel flowrate provided to the anode recirculation loop based on the decreased current, so as to maintain a steam to carbon ratio in the anode recirculation loop above a predetermined steam to carbon ratio limit. A shutdown method for the fuel cell system are also disclosed.

Abstract: A fuel cell system is disclosed, which includes an anode recirculation loop comprising a fuel cell stack for generating power, a flowmeter for measuring a fuel flow rate of a fuel provided into the anode recirculation loop, a current measuring device for measuring a current drawn from the fuel cell stack, a recycle ratio measuring device for measuring a recycle ratio in the anode recirculation loop, and a processor for estimating a fuel utilization of the fuel cell stack based on the measured fuel flow rate, the measured current and the measured recycle ratio. Methods for operating the fuel cell system are also disclosed.

Abstract: A fuel cell system is disclosed, which includes an anode recirculation loop including a fuel cell stack for generating power, a fuel supply device for providing a fuel to the anode recirculation loop, an air supply device for providing air to a cathode of the fuel cell stack, a voltage monitoring device for monitoring a voltage of the fuel cell stack, and an anode protection controller. The anode protection controller decreases a current drawn from the fuel cell stack by a predetermined amount whenever the voltage of the fuel cell stack drops below a predetermined voltage threshold and decreases a fuel flowrate provided to the anode recirculation loop based on the decreased current, so as to maintain a steam to carbon ratio in the anode recirculation loop above a predetermined steam to carbon ratio limit. A shutdown method for the fuel cell system are also disclosed.

Abstract: A fuel cell system is disclosed, which includes an anode recirculation loop comprising a fuel cell stack for generating power, a flowmeter for measuring a fuel flow rate of a fuel provided into the anode recirculation loop, a current measuring device for measuring a current drawn from the fuel cell stack, a recycle ratio measuring device for measuring a recycle ratio in the anode recirculation loop, and a processor for estimating a fuel utilization of the fuel cell stack based on the measured fuel flow rate, the measured current and the measured recycle ratio. Methods for operating the fuel cell system are also disclosed.

Abstract: A fuel cell system is disclosed, which includes an anode recirculation loop having a fuel cell stack for generating power, a flowmeter, a current sensor and a processor. The flowmeter is configured for measuring a fuel flow rate provided into the anode recirculation loop. The current sensor is configured for measuring a current drawn from the fuel cell stack. The processor is configured for determining a steam to carbon ratio in the anode recirculation loop based on the measured fuel flow rate and the measured current. The fuel cell system further includes a temperature sensor for measuring a temperature in the anode recirculation loop. The process is configured for determining the steam to carbon ration further based on the measured temperature. A method for operating the fuel cell system and a fuel cell power plant are also disclosed.

Abstract: A rigid speed reducer with internal and external tooth profile tooth-enveloping. The rigid speed reducer includes first- and second-level speed-reducing mechanisms. The first-level speed-reducing mechanism includes: an eccentric gear; rotary arm bearing; externally-meshing curved gear; and gear pins fixed on a first supporting frame and externally meshed with the externally-meshing curved gear. The second-level speed-reducing mechanism includes: an eccentric transmission gear; rotary arm bearing; internally-meshing curved gear, which is internally meshed and fitted with the gear pin; and an output disk linked with an output shaft. The eccentric transmission gear is in transmission connection with the externally-meshing curved gear through a dowel pin. The internally-meshing curved gear is in transmission with the output disk through a transmission pin.

Abstract: A rigid speed reducer with internal and external tooth profile tooth-enveloping. The rigid speed reducer includes first- and second-level speed-reducing mechanisms. The first-level speed-reducing mechanism includes: an eccentric gear; rotary arm bearing; externally-meshing curved gear; and gear pins fixed on a first supporting frame and externally meshed with the externally-meshing curved gear. The second-level speed-reducing mechanism includes: an eccentric transmission gear; rotary arm bearing; internally-meshing curved gear, which is internally meshed and fitted with the gear pin; and an output disk linked with an output shaft. The eccentric transmission gear is in transmission connection with the externally-meshing curved gear through a dowel pin. The internally-meshing curved gear is in transmission with the output disk through a transmission pin.

Abstract: A method and apparatus for analyzing a hydraulic pump in real-time. A pressure signal is provided representing a discharge pressure of the hydraulic pump, and the pressure signal is decomposed into a plurality of levels. Each of the plurality of levels has at least one frequency band. A feature pressure signal is located in at least one of the frequency bands and compared to a reference wavelet to determine if a fault exists in the hydraulic pump and/or a type of defect in the hydraulic pump.