基于多视图立体视觉的沙堆三维尺寸测量研究

利用从运动中恢复结构方法(SFM),提出了一种基于多视图立体视觉的沙堆三维重建及三维尺寸测量方法。首先根据SFM方法的求解不稳定特点,结合光束平差法对SFM求解过程进行分析及优化;其次针对SFM重建结果为稀疏点云的问题,利用基于面片的稠密重建算法重新生成稠密的三维点云,再利用泊松算法对密集点云进行三维曲面重建;最后获得模型的三维尺寸信息。对某建筑工地的沙堆进行了三维尺寸的测量实验,实验结果验证了该方法的有效及可行性,提高了重建能力及精度,同时考虑了目标实际测量误差与重建误差,能够满足实际智能测量的应用需求。     

An Improved Torque Sensorless Speed Control Method for Electric Assisted Bicycle With Consideration of Coordinate Conversion

In this paper, we propose an improved torque sensorless speed control method for electric assisted bicycle, this method considers the coordinate conversion. A low-pass filter is designed in disturbance observer to estimate and compensate the variable disturbance during cycling. A DC motor provides assisted power driving, the assistance method is based on the real-time wheel angular velocity and coordinate system transformation. The effect of observer is proved, and the proposed method guarantees stability under disturbances. It is also compared to the existing methods and their performances are illustrated through simulations. The proposed method improves the performance both in rapidity and stability.      

复合固体推进剂中固体填料的安息角测试与仿真

复合固体推进剂含有固体颗粒较多，离散单元法是一种适合固体推进剂生产过程数值仿真的有效方法，颗粒物料的接触参数是保证离散单元法仿真精度的关键。本文以复合固体推进剂的主要组分铝粉和高氯酸铵固体颗粒为研究对象，通过实验测试获得了相关物料的安息角，利用专业离散元软件EDEM仿真模拟了安息角测试实验过程，建立了物料安息角与接触参数之间的联系。研究表明，滚动摩擦系数和滑动摩擦系数越大，安息角越大，物料流动性越差。对比仿真与实验结果，通过逆向反推法确定了物料的滑动摩擦系数和滚动摩擦系数两个关键接触参数。铝粉与高氯酸铵1∶2混合颗粒的滑动摩擦系数为0.2，滚动摩擦系数为0.05。为固体推进剂加工生产过程离散元数值仿真提供了关键基础数据。     

煤与高岭石表面性质对凝聚过程的影响机制

煤泥水中含大量高岭石等黏土矿物，为其絮凝沉降带来较大的困难。为明确矿物性质对凝聚过程的影响机制，在应用扩展的DLVO理论计算煤和高岭石颗粒间作用力的基础上，采用聚焦光束反射测量仪监测了CaCl2用量为4.50 mmol/L时20 g/L的煤和高岭石的悬浮液在60, 100和150 r/min的搅拌转速下的凝聚过程。结果表明，颗粒间的静电作用力在颗粒表面间距2?200 nm范围内起主导作用，高岭石的电负性较大，在凝聚过程中更难发生靠近和碰撞；较高的转速可为颗粒提供较大的动量，有利于提高碰撞频率，缩短完成凝聚所需时间，实验条件下，煤和高岭石的凝聚时间分别由74和123 s缩短至47和89 s。疏水性作用力在颗粒表面间距小于2 nm的范围内起主导作用，决定了颗粒的黏附效率；煤因强疏水性，在碰撞后更易黏附，且能抵抗更高的流体剪切作用，可由19.32 μm凝聚形成100 μm的大凝聚体，而高岭石则因其亲水性难以得到较大粒度的凝聚体，均小于30 μm。     

Analysis of acoustic Doppler current profiler mean velocity measurements in shallow flows

Acoustic Doppler current profilers (ADCPs) are commonly used instruments for measurement of natural streamflow and flow in manmade channels. Velocities measured in a profile by the instrument are used to estimate the discharge in a channel. A Teledyne RD Instruments StreamPro ADCP was used to measure the mean velocity simultaneously with a laser Doppler anemometer (LDA) in a laboratory flume. An average of 3.9% under-prediction of the mean velocity measured by the ADCP occurred when compared to the measurements of the LDA. Moreover, this study shows that the sampling duration of the measurements significantly impacts the mean point velocities measured by up to 50%.     

In-situ deflectometic measurement of transparent optics in precision robotic polishing

In the ultra-precision manufacturing of large optics, industrial robots have the potential to become an intelligent and economical choice of surface polishing. However, the transport of the workpieces between the polishing platform and the measurement instrument seriously limits the manufacturing efficiency. Therefore, an in-situ measurement system based on the monoscopic deflectometry is developed to determine the form quality of the optical lenses during rough polishing. Stray light reflected from the lower surface of transparent lenses may degrade the measuring quality, thus an effective absolute phase retrieval algorithm is developed to decouple the superposed fringes associated with the upper and lower surfaces. Then, the form of the upper surface under polishing can be reconstructed to guide the subsequent polishing. Experimental results demonstrate that the accuracy of the method is comparable to that of the coordinate measuring machine, consequently the manufacturing efficiency and reliability of large optical workpieces can be greatly improved.     

并联机器人末端轨迹测量系统设计

针对机器人末端轨迹检测问题，提出了一种基于拉线传感器的并联机器人末端轨迹追踪系统。该方案采用拉线式位移传感器与角度传感器作为数据采集端，经数据采集卡传递给计算机进行数据处理，实现末端轨迹测量。最后，设计试验样机并基于 Ｃ＃ ＷｉｎＦｏｒｍ 模块编写数据处理模块，从而实现仿真结果与实际相互印证的目标。     

Investigation of the residual stress in UO2-Mo composites via a neutron diffraction method

UO₂-Mo composites with a core-shell structure have been considered candidates for the thermal conductivity (TC)-enhanced UO₂ pellets and have demonstrated commercial potential for use in novel high-level safety reactors. Nevertheless, UO₂-Mo composites tend to form micro-cracks that are caused by the presence of residual stress (RS) during manufacturing. In this work, neutron diffraction measurements were employed to analyse the RS in UO₂-Mo core-shell structured composites fabricated by spark plasma sintering (SPS) for the first time. It was found that in the UO₂-Mo composites, the RS state present in the UO₂ matrix was tensile in nature. The RS in the UO₂ matrix increased with increaseing Mo content. There was a maximum value of 148 ± 15 MPa in the UO₂-10 vol% Mo composite. The micro-cracks produced in the high-Mo content composites were explained by the results of the neutron diffraction measurements. These results could provide significant guidance for the manufacturing and improvement of the operational performance of UO₂-Mo composites as next-generation fuels.     

基于局部特征的青年女性腿部形态分类

为提高女性裤装的合体性与舒适性,采用三维测量法、图像测量法及手工测量法相结合的方式,对236名18~25岁的青年女性腿部形态进行测量,获取20个相关特征变量;通过主成分因子分析得到影响腿部形态的主要特征因子,通过聚类分析得到青年女性腿部形态的分类结果;最后结合膝曲角的正负归纳出各类腿部形态的辨别规则并进行辨别验证。研究得出:影响腿部形态的主要特征因子有水平围度因子、长度因子、小腿围度差因子、腿部曲度因子、腿部轮廓因子和大腿围度差因子;人体腿部形态可分成圆体型、稍扁体型和扁体型3类;以大腿宽厚比、大腿根围膝围比、大小腿长比及膝曲角4个变量建立腿部形态分类规则。     

A system for time-fluctuating flow rate measurements in a single-blade pump circuit

Commonly used flow rate measurement systems provide an accurate and stable output value of the quasi-stationary flow rate. In some pump types as e.g. single-blade pumps significant flow rate fluctuations may occur even in steady operation points due to rotor-stator interaction. For the analysis of the time-resolved flow rate a new measurement and evaluation method is presented based on an electromagnetic flow meter. Internal averaging of the flow meter is deactivated and the raw signal is evaluated directly with a sampling rate of 3 kHz. With ensemble-averaging in combination with an impeller position detection, interfering signals acting on the time-resolved measurement signal are filtered out. Accompanying numerical simulations of the pump flow circuit are carried out with a 1D method of characteristics and validated against well-established time-resolved pressure measurements of the pump flow. Experiment and simulation show a resembling trend of pressure as well as flow rate fluctuations over the entire operation range of the pump. Thus, by the combined utilisation of measurement and simulation technique, we assure the validity of the ensemble-averaged flow rate fluctuation results. We find that the flow rate fluctuations show a consistent phase shift to the pressure fluctuations that increases towards overload. The flow rate amplitude is an order of magnitude smaller than the amplitude of the pressure fluctuations.