一种圆柱度测量基准的误差分离方法

通过对主轴回转误差运动的分析，结合三点法圆度误差分离技术，提出了一种完全分离圆柱度测量基准误差的分离方法，即利用主轴回转轴线平均线、测量传感器及直行导轨之间的空间位置关系，建立相应的坐标系，在分离出被测截面圆度误差、最小二乘圆心初始坐标的基础上，完整地分离出影响圆柱度精密测量的径向回转运动误差和导轨的直行运动误差。该技术不仅可以消除测量基准误差对圆柱度测量精度的影响，还可以实现主轴回转误差、导轨直线度以及导轨对主轴平行度误差的精密测量，对高精度误差补偿加工和机床的精度检验也具有重要意义。     

抛物线弹道弹丸飞行参数测量模型与 精度分析

现有匀速直线弹道六光幕阵列测量模型无法满足终点抛物线弹道弹丸着靶坐标与飞行速度的测量需求。针对终点弹道测试试验中抛物线弹道的实际,提出一种变速抛物线弹道弹丸飞行参数的测量方法,建立六光幕阵列通用测量模型。综合考虑重力和空气阻力对弹丸运动轨迹的影响,建立弹丸的空间运动方程,结合光幕阵列平面方程和测量得到的弹丸穿过光幕阵列时刻序列,计算出弹丸在预定位置的着靶坐标和飞行速度矢量。对研究的抛物线弹道测量模型与现有的匀速直线弹道模型进行了比较分析,仿真计算了在不同靶距与不同飞行速度情况下2种模型测量数据的差值。对研究的测量算法进行了精度分析。采用六光幕阵列天幕靶和木板靶进行7.62 mm步枪弹的着靶坐标比对试验,结果表明在探测靶面内,着靶坐标测量误差不大于3.5 mm。建立的测量模型拓宽了六光幕阵列在终点弹道的测试领域的应用。     

带非线性预校正功能的偏振光位移传感器

本文提出了一种基于振光检测的直线位移传感器,它具有非线性预校正的功能。介绍了检测与结构原理,并给出了原理装置的实验结果。这种新型位移传感器具有光机电结合、结构简单、非接触传感等特点,通过在变换结构中引入非线性预校正的方法,使输出电量与被测位移量在理论上呈线性关系,不仅扩大了量程,简化了电路,而且在全程范围获得了均匀的灵敏度和准确度。     

Correction and evaluation of the effect due to parasitic motion on primary accelerometer calibration

Primary accelerometer calibration is carried out under the assumption that a vibration exciter gives a rectilinear motion to an accelerometer to be calibrated. However practical vibration given by the vibration exciter includes parasitic motion such as transverse, rocking, and bending motion. Such parasitic motion would give two serious effects on primary calibration results, transverse motion effect and vibration distribution effect. Transverse motion effect is caused by an inner product of the vectors of both transverse motion and transverse sensitivity. On the other hand, the vibration distribution effect is caused by relative motion between a sensing point of accelerometer and a spot sensed by the interferometer. As these effects have close interaction between parasitic motion and measuring instruments, it would be very difficult to evaluate them by measuring independently each component.     

基于Φ OTDR技术的通信光缆险情定位与预警系统设计与实现

研究基于Φ-光时域反射计(Φ-OTDR)技术的分布式光纤传感方法,分析了基于相干光时域反射计的分布式光纤振动传感机理。在此基础上系统采用一段40km多芯通信光缆中的一芯光纤作为传感光纤进行通信光缆险情定位与预警试验。试验结果表明,该系统可对40km通信光缆不同位置的入侵事件自动识别预警,显示险情位置,定位精度优于50m。     

偏振光位移传感器原理与方法研究

本文提出了基于马吕斯定律的偏振光直线位移传感器。对其检测原理与方法以及各主要构成环节进行了讨论。给出了使角度差与直线位移成正比的“同速差动”结构。介绍了消除光学系统非线性的线性化电路方案。此传感器具有光机电结合、量程大、灵敏度高、非接触传感等特点,为直线位移测量提供了新的方法与手段。     

便携式汽车负荷传感器的研制

本文叙述便携式汽车负荷传感器主要特点及软硬件系统，并给出测量原理的数学模型。在研制出样机的基础上，对数学模型的验证，起重传感器测量系统的标定，以及现场测试等方面进行了全面系统的实验研究。     

智能缆索传感方案优化

将应变传感元件制成智能筋并直接植入缆索中,使其具备索力自感知能力的"智能缆索技术"是当前研究的热点.为了简化基于智能筋的智能缆索工艺、解决其超大应变测量难题,需对传感方案进行优化.由弹性力学控制方程出发,对缆索全索应力分布的特性进行了理论分析与计算,并重点讨论了缆索锚固区的应力分布特性,提出了一种基于锚固区应变测量的传感优化方案.该优化方案不仅将测量应变减小为原先的1/6,而且将应变传感器长度由原先的约几百米缩短为不足一米,大大降低了成本,同时利用锚固填料固化后的强劲粘接力保证了传感器与钢丝的协同变形,消除了钢筋扭绞对应变传感器的性能影响.     

Zigzag pattern of Brillouin OF sensor for spatial resolution enhancement

Brillouin optical fiber (OF) sensing technology shows superior potential for structural health monitoring with the advantages of distributed strain and temperature measurement, immunity of electromagnetic interference and so on. However most of current commercial Brillouin OF sensing systems have encountered spatial resolution bottleneck, which cannot deal with local high-precision measurement. A zigzag pattern of Brillouin OF sensor is developed explicitly for spatial resolution enhancement in this paper, and a relative zigzag optical fiber sensor is produced and packaged by fiber reinforced polymer (FRP). Their characteristics are studied by using the strain measurement of one small-size uniform strength beam. From the experiments, the zigzag pattern exhibits excellent performance for strain measurement with high-precision and enhances the spatial resolution to a certain degree without changing the Brillouin sensing instrument’s performance itself.     

用于假手指尖的光纤光栅触觉力传感器研究

针对现有假手触觉测量常用的薄膜压力传感器精度不佳、线性度差、迟滞性高等问题,研究了一种可安装于假手指尖的光纤布拉格光栅触觉力传感器。首先,通过传感单元的微小化结构设计,可以将施加的外力转化为光纤承受的轴向力;进而,通过有限元对传感器结构参数进行优化,提高了光纤光栅对于压力的灵敏度;然后,围绕假手指尖应用的需求,制作了这种光纤布拉格光栅触觉力传感器;最后,对该传感器进行了性能标定、对比分析和应用抓取3个实验分析,实验结果表明:该传感器压力灵敏度为0.103 8 nm/N,线性度R~2为0.998,重复性误差为1.32%和迟滞性误差为2.19%;与现有的薄膜压力传感器对比,该传感器的线性度和重复度都更高,迟滞性更低。     

Computational analysis of responses of a wedge-shaped-tip optical fiber probe in bubble measurement

Optical-fiber probing is widely employed in bubble∕droplet measurement in gas-liquid two-phase flows. Several types of optical fiber probes with a very high S∕N ratio and high performance have been developed, but further improvement in the probes' measurement accuracy and reliability for industrial applications is desired. We tried to eliminate optical noise in the probe measurements, and we found that the signals include some peak signs that have potential for advanced measurement with optical-fiber probing. We developed a ray-tracing numerical simulator and identified the mechanisms underlying the generation of the signals. In order to numerically simulate the optical probing signals, the simulator must use 3D frameworks composed of incident beams, the reflection and refraction on the surfaces of the optical elements (i.e., an optical fiber, a sensing tip, an air phase, and a water phase), and beams returning from the sensing tip to the other tip through the fiber. We used all of these in a simple rendering framework based on a ray-tracing algorithm with Fresnel's law, and we observed the mechanism of some promising signals that may be useful for extracting the hidden potential of optical-fiber probing. To verify the simulator's performance, we carried out three comparative experiments with fundamental setups using a wedge-shaped single-tip optical fiber probe, examining: (1) the beam trajectories and energy leaking out from the sensing tip into the surrounding air phase or water phase, (2) the probing signals throughout penetration of the sensing tip at the air-water free interface in light of the three-dimensional deformation, and (3) the probing signals throughout penetration of the sensing tip into a bubble in light of the three-dimensional bubble shape. As a result, (a) we found that an optical fiber probe with a wedge-shaped tip has particular characteristics of beam emissions from the tip, and the emitting angles switched depending on the phases covering the tip. This phenomenon is very effective for further advanced measurement. (b) We observed numerically that the cutting angle of the sensing tip maximizing the air signal level was approximately 30°, and therefore this angle is the best for obtaining the highest S∕N ratio. (c) We found that the meniscus shape clearly affected the probing signal optically. (d) We observed the mechanism of a pre-signal caused by the reflection at the frontal and rear interfaces of a bubble. The pre-signal is very useful for practical measurement because it appears only when the probe penetrates the center region of a bubble. We compared the above numerical results with the results of the three experiments, and there was satisfactory correspondence between the numerical and experimental results.     

基于磁场测量的行程传感液压缸技术的研究

对基于磁场测量的行程传感液压缸技术的磁性标尺，传感器结构及布置方法，信号处理方法等进行了研究，通过理论分析确定了传感器部分的测量磁路结构参数，提出了磁性标尺的帧重叠编码方法，通过对双磁敏传感器布置形式的研究，提出了消除间隙影响的信号处理方法，实验结果证明，各项技术能够应用于行程传感液压缸。     

基于卡尔曼滤波数据融合的并联机床动态定位方法

针对并联机床动平台上主轴动态定位问题,将惯性传感技术运用于并联机床动平台的位姿测量,提出一种基于卡尔曼滤波(Kalman filtering,KF)数据融合的并联机床动态定位新方法。该方法融合动态惯性测量数据和机床各腿(支架)的编码器信息,通过KF算法补偿动态测量误差和计算误差,从而实现并联机床动平台位姿(位置和方向)的精确定位。详细介绍KF算法中惯性系统模型和外部测量模型的建立过程,以及测量变量与状态变量间的关系矩阵的推导过程。最后,进行一个单方向运动动态测量的简化试验,对并联机床动平台的6自由度位姿测量进行仿真研究,初步证实了该位姿算法的有效性。     

压缩感知理论测量矩阵研究

压缩感知理论突破传统的奈奎斯特采样定律对数据进行采集,其研究的核心问题是随机测量矩阵的设计和恢复重构算法。本文主要将压缩感知理论应用于数字图像处理领域,在对压缩感知进行系统研究的基础上,主要分析了常用随机高斯测量矩阵对图像还原算法的影响,结合矩阵的相关性构造了由测量矩阵和稀疏矩阵所决定的格拉姆(Gram)测量矩阵,并对其进行相关性阈值和缩放处理。使用优化改进后的测量矩阵能获取更多有信息量的测量值,进而完成对测量值的优化,最后结合不同的恢复重构算法在MATLAB环境下对改进方法进行仿真验证,仿真结果证实了改进方法的正确性,具有较高的研究和实用价值。     

Implementation of a piezoresistive MEMS cantilever for nanoscale force measurement in micro/nano robotic applications

The nanoscale sensing and manipulation have become a challenging issue in micro/nanorobotic applications. In particular, a feedback sensor-based manipulation is necessary for realizing an efficient and reliable handling of particles under uncertain environment in a micro/ nano scale. This paper presents a piezoresistive MEMS cantilever for nanoscale force measurement in microrobotics. A piezoresistive MEMS cantilever enables sensing of gripping and contact forces in nanonewton resolution by measuring changes in the stress-induced electrical resistances. The calibration of a piezoresistive MEMS cantilever is experimentally carried out. In addition, as part of the work on nanomanipulation with a piezoresistive MEMS cantilever, the analysis on the interaction forces between a tip and a material, and the associated manipulation strategies are investigated. Experiments and simulations show that a piezoresistive MEMS cantilever integrated into a microrobotic system can be effectively used in nanoscale force measurements and a sensor-based manipulation.     

基于卡尔曼预测的差动共焦轮廓跟踪测量方法

针对轴向扫描式差动共焦测量法(ASDCM)测量轮廓效率低下问题,提出一种基于卡尔曼预测的差动共焦轮廓跟踪测量方法。该方法使用激光差动共焦轴向响应曲线数百纳米量程的线性区间实现了表面连续轮廓高精度线性传感测量,提高了测量效率;同时引入基于卡尔曼预测器的轮廓跟踪原理利用已测轮廓点数据对未测表面预测并跟踪,扩展了线性传感轮廓测量法测量范围。实验结果表明,该方法相对于ASDCM法测量效率提升了8倍,且实现了轮廓PV值大于线性传感测量范围的标准椭圆柱高精度跟踪测量,激光聚变靶丸内轮廓圆度重复测量标准差达3 nm。为精密元器件表面连续轮廓的高精度、快速、无损测量提供了一种高质量方法。     

可溯源至质量的静电力复现与测量技术

为实现10-5 N以下微小力值的测量及溯源,提出了一种高精度、可溯源至质量的微小力值测量系统,采用受控静电力发生装置复现微小力值,其基本工作原理是基于一种精密设计的圆柱形电容器,电容器内外电极同轴,外电极固定不动作为参考电极,内电极由弹性机构支撑和导向,通过改变内外电极间的电压产生静电力,从而将力学量追溯至电容及电压等电学量,利用砝码质量与静电力平衡的原理,可以实现微小力值的溯源.实验结果表明:电容变化梯度为0.82 pF/mm,完全可以复现10-6～10-9 N范围内的静电力.     

高空间分辨率分布式光纤测温系统的设计及应用

分布式光纤测温系统是一种新型的线型感温探测器,以光纤作为传感器,可实现沿光纤分布的温度实时测量。理论分析了分布式光纤测温系统的原理以及影响空间分辨率指标的因素,并给出了0.5m高空间分辨率分布式光纤测温系统的设计以及测试情况。将高空间分辨率分布式光纤测温系统应用于电缆温度测量,测量结果表明0.5m空间分辨率下对小区域电缆过热点的探测更为显著,可及时发现潜在的火灾隐患。     

基于DSP的光纤法珀应变仪数据采集技术研究

光纤法珀应变传感是20世纪80年代末发展起来的一种新型应变测量技术。相应的应变测量仪逐渐成为国内外研究的热点。针对现有的应变测量仪，提出了基于DSP的一体化光纤法珀应变仪的思路，对VC33与应变测量仪之间的数据采集进行了探讨，重点介绍了VC33与应变测量仪之间数据采集的硬件和软件设计，并做了采集验证实验。实验结果与理论上传感器的输出结果基本一致，验证了该采集技术的可行性，为后面的数据处理及实现一体化打下了良好的基础。     

Novel Door-opening Method for Six-legged Robots Based on Only Force Sensing

Current door-opening methods are mainly developed on tracked, wheeled and biped robots by applying multi-DOF manipulators and vision systems. However, door-opening methods for six-legged robots are seldom studied, especially using 0-DOF tools to operate and only force sensing to detect. A novel door-opening method for six-legged robots is developed and implemented to the six-parallel-legged robot. The kinematic model of the six-parallel-legged robot is established and the model of measuring the positional relationship between the robot and the door is proposed. The measurement model is completely based on only force sensing. The real-time trajectory planning method and the control strategy are designed. The trajectory planning method allows the maximum angle between the sagittal axis of the robot body and the normal line of the door plane to be 45º. A 0-DOF tool mounted to the robot body is applied to operate. By integrating with the body, the tool has 6 DOFs and enough workspace to operate. The loose grasp achieved by the tool helps release the inner force in the tool. Experiments are carried out to validate the method. The results show that the method is effective and robust in opening doors wider than 1 m. This paper proposes a novel door-opening method for six-legged robots, which notably uses a 0-DOF tool and only force sensing to detect and open the door.