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Article
Publication date: 5 June 2019

Hongjun Xing, Kerui Xia, Liang Ding, Haibo Gao, Guangjun Liu and Zongquan Deng

The purpose of this paper is to enable autonomous door-opening with unknown geometrical constraints. Door-opening is a common action needed for mobile manipulators to…

Abstract

Purpose

The purpose of this paper is to enable autonomous door-opening with unknown geometrical constraints. Door-opening is a common action needed for mobile manipulators to perform rescue operation. However, it remains difficult for them to handle it in real rescue environments. The major difficulties of rescue manipulation involve contradiction between unknown geometrical constraints and limited sensors because of extreme physical constraints.

Design/methodology/approach

A method for estimating the unknown door geometrical parameters using coordinate transformation of the end-effector with visual teleoperation assists is proposed. A trajectory planning algorithm is developed using geometrical parameters from the proposed method.

Findings

The relevant experiments are also conducted using a manipulator suited to extreme physical constraints to open a real door with a locked latch and unknown geometrical parameters, which demonstrates the validity and efficiency of the proposed approach.

Originality/value

This is a novel method for estimating the unknown door geometrical parameters with coordinate transformation of the end-effector through visual teleoperation assists.

Details

Assembly Automation, vol. 39 no. 3
Type: Research Article
ISSN: 0144-5154

Keywords

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Article
Publication date: 11 August 2020

Mingqi Gu, Wei Zhang, Shang Hao, Xiaochen Liu, Zichao Zhang and Fenjuan Shao

This study aims to explore the infrared imaging effect of fabrics coated with phase change material microcapsules (PCM-MCs), which are prepared by the initiation of…

Abstract

Purpose

This study aims to explore the infrared imaging effect of fabrics coated with phase change material microcapsules (PCM-MCs), which are prepared by the initiation of ultraviolet (UV) light.

Design/methodology/approach

PCM-MCs were prepared by UV polymerization using paraffin (PA) as core material, polymethyl methacrylate as wall material and ferric chloride as photoinitiator. The effects of emulsifier dosage and emulsification temperature on the properties of PA emulsion were investigated. Scanning electron microscopy, particle size analysis, infrared spectroscopy, differential scanning calorimetry and infrared imaging test were used to characterize the properties of microcapsules.

Findings

The PCM-MCs with good morphology and particle size were prepared with 25 cm of the distance between light source and the liquid. The average particle size was 1.066 µm and the latent heat of phase transition was 19.96 J/g. After 100 accelerated thermal cycles, the latent heat only decreased by 1.8%. It had good heat storage stability and thermal stability. The fabric coated by the microcapsules exhibited a variable temperature hysteresis effect when placed in the sun, and presented a color close to the infrared images of the human palm under the external environment temperature close to the human body temperature.

Research limitations/implications

The PCM-MCs prepared based on UV light initiation showed good thermal properties and its coated fabrics had an infrared decoy effect below the temperature of the human body.

Practical implications

This study explored the application of microcapsules in textiles.

Originality/value

The microcapsules had a certain application potential in infrared decoy effect.

Details

Pigment & Resin Technology, vol. 50 no. 2
Type: Research Article
ISSN: 0369-9420

Keywords

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Article
Publication date: 29 July 2020

Zhang Fengjun, Kong Cui and Chen Qianbao

The purpose of this paper is to explore the factors that affect the compactness of the mud filter cake, so as to prepare diaphragm wall slurry with good uniformity, small…

Abstract

Purpose

The purpose of this paper is to explore the factors that affect the compactness of the mud filter cake, so as to prepare diaphragm wall slurry with good uniformity, small filtration loss and excellent recycling performance.

Design/methodology/approach

In this paper, the thickness, filtration loss and slurry viscosity of the filter cake are used as the characterization methods. The effects of pore depth, slurry specific gravity, intercalated metal ions, bridging polymer and water-soluble polymer on the compactness of the filter cake were studied.

Findings

The experimental results showed that the slurry's own pressure (pore depth) and specific gravity have little influence on the compactness of the filter cake and K+ can be considered as an auxiliary filtration loss reduction factor. Both the sulfonate copolymer and the potassium polyacrylate particle can significantly reduce the filtration loss of the slurry, which can effectively improve the filter cake compactness. Moreover, the composite application of potassium polyacrylate particles in the sizes of 80–100 and 150–200 meshes can exhibit a better filter cake compaction effect.

Originality/value

It solves the problems of high pulping cost, serious pollution of the environment, poor quality of filter cake formation and large filtration loss during the construction of the diaphragm wall, which improved the construction quality of the diaphragm wall.

Details

Pigment & Resin Technology, vol. 50 no. 3
Type: Research Article
ISSN: 0369-9420

Keywords

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Article
Publication date: 4 January 2021

Wei Zhang, Enzheng Xing, Shang Hao, Yonghe Xiao, Ruonan Li, Jiming Yao and Yonggui Li

This study aims to manufacture cotton fabric with thermal regulation performance by using the composite phase change material (CPCM) prepared by coating paraffin doped…

Abstract

Purpose

This study aims to manufacture cotton fabric with thermal regulation performance by using the composite phase change material (CPCM) prepared by coating paraffin doped with expanded graphite (EG), and the thermal effect of the fabric material was evaluated and characterized.

Design/methodology/approach

EG/paraffin CPCM with shape stability and enhanced thermal conductivity were prepared by the impregnation method and then finished on the surface of cotton fabric with coating technology. The microstructure, crystal structure, chemical composition, latent heat property and thermal conductivity were analyzed by scanning electron microscope, x-ray diffraction, Fourier transform infrared spectroscopy, differential scanning calorimeter and thermal constant analyzer. The photo-thermal effect of the coated fabric was studied by a thermal infrared imager.

Findings

CPCM prepared with a mass ratio of EG to paraffin of 1:8 showed excellent shape stability and low paraffin leakage rate. The latent heat of the CPCM was 51.6201 J/g and the thermal conductivity coefficient was increased by 11.4 times compared with the mixed paraffin. After the CPCM was coated on the surface of the cotton fabric, the light-to-heat conversion rate of the C-EG/PA3 sample was improved by 86.32% compared with the original fabric. In addition, the coated fabric showed excellent thermal stability and heat storage performance in the thermal cycling test.

Research limitations/implications

EG can improve the shape stability and thermal conductivity of paraffin but will reduce the latent heat energy.

Practical implications

The method developed provided a simple and practical solution to improving the thermal regulation performance of fabrics.

Originality/value

Combining paraffin wax with fabrics in a composite way is innovative and has certain applicability in improving the thermal properties of fabrics.

Details

Pigment & Resin Technology, vol. 50 no. 4
Type: Research Article
ISSN: 0369-9420

Keywords

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