FPGA-based adaptive backstepping fuzzy control for a micro-positioning Scott-Russell mechanism

This paper utilizes the field programmable gate array (FPGA) and Nios II embedded processor technologies to design a controller IC for a micro-positioning Scott-Russell (SR) mechanism, which is driven by a piezoelectric actuator (PA) and its hysteresis phenomenon is described by Bouc-Wen hysteresis model. For the controller design, the adaptive backstepping fuzzy control (ABFC) method is developed to compensate the PA's hysteresis and achieve the motion tracking control. The fuzzy logic method (FLM) is utilized to find the best adaptation gain of the adaptation law and control gain of the stabilization controls. This ABFC controller method can improve the transient and asymptotic tracking performances, and make the SR mechanism keep good working performance when external disturbances is added in the control system. Finally, we successfully apply the system-on-a-programmable-chip (SoPC) technologies to develop the motion controller IC, and achieve the advantages of reduced space, high performance and low cost.     

Photoacoustic infrared spectroscopy at the Canadian Light Source: commissioning experiments

The commissioning of synchrotron radiation (SR) photoacoustic (PA) infrared spectroscopy at the Canadian Light Source is described in this article. Aperture tests demonstrated an exponential relationship between the wavenumber where SR and thermal-source PA intensities are equal and beam diameter. Total PA intensity increased linearly with aperture size up to 1.5 mm (SR) or 3 mm (thermal source). At larger apertures, this intensity approached a limiting value. The SR beam diameter in the spectrometer was estimated to be about 0.8 mm in these tests. The low-frequency noise and dc offset that characterize SR PA spectra are suppressed through the calculation of average interferograms prior to Fourier transformation.     

System identification of a dual-stage XY precision positioning table

The purpose of this study is to develop a micro/nano-meter XY precision positioning table, in which the coarse and fine positionings are performed by the permanent magnet synchronous motor (PMSM) and piezoelectric actuator (PA), respectively. The main contribution is to identify the XY table driven by the PM and PA, where the Bouc-Wen hysteresis phenomenon of the PA and cross-coupling effects between the X and Y axes are included. In system identification, the real-coded genetic algorithm (RGA) method is employed to find the optimized parameters, where the parameter identification is divided into the individual and integral identifications, and their numerical simulations and experimental results are compared. In conclusion, the dual-stage XY precision positioning table driven by the PM and the PA including the cross-coupling and hysteresis phenomenon can be successfully identified, and it is found that the identified parameters by the integral identification are better.     

动力调谐陀螺仪子空间辨识

针对传统子空间辨识法(SIM)用于动力调谐陀螺仪(DTG)建模过程中存在的结构参数复杂、干扰因素未知、建模精度不高等问题,提出了一种改进的子空间辨识方法。首先,确定辨识对象DTG的状态空间模型集,分析DTG输出信号中存在的固有有色噪声。然后,针对有色噪声的干扰问题,对传统SIM进行改进,通过数据Hankel矩阵的正交投影消除传统SIM的有偏性。最后,在数值仿真中引入置信椭圆,对改进算法进行统计特性分析。仿真结果表明:在不同强度有色噪声干扰下,改进算法无偏,方差特性与有色噪声强度和数据长度有关。辨识实验表明:改进SIM的辨识效果明显优于传统SIM,辨识拟合度优于90%。得到的结果显示改进算法能够应用于DTG系统建模。     

结合面法向和切向接触刚度的MPSO-BP神经网络算法的建模

提出一种基于改进的粒子群和BP神经网络相结合的算法模型,用改进粒子群优化算法优化BP神经网络参数。以机械结合面法向接触刚度和切向接触刚度作为算例。考虑结合面配对副材料、接触载荷、表面加工方法、表面粗糙度和结合面间的介质作为主要因素,对8组结合面法向和切向接触刚度进行预测建模,并对仿真与实验结果进行比较与误差分析。结果表明,该方法实现了多种影响因素组合下的机械结合面法向和切向接触刚度较高精度的建模和预测。     

Advanced parameter identification for a linear-motor-driven motion system using disturbance observer

Disturbance observer (DOB) is generally introduced into motion control systems to eliminate undesired disturbances and plant uncertainty. The DOB is also used for system identification. This work presents a novel experimental identification algorithm using disturbance observer to identify inertia, viscous coefficient, and friction of linear-motor-driven motion system. A conventionally adopted algorithm for determining the inertia of the motion system based on orthogonal relations among system responses is modified and extended to estimate the viscous coefficient and the magnitude of Coulomb friction of the underlying system. The advantages of the proposed method are high convergence rate and only one experiment needed to evaluate the system parameters. The proposed algorithm is demonstrated to be workable by both simulation and experiment.     

An adaptive stochastic resonance method based on grey wolf optimizer algorithm and its application to machinery fault diagnosis

Stochastic resonance (SR) is widely used as an enhanced signal detection method in machinery fault diagnosis. However, the system parameters have significant effects on the output results, which makes it difficult for SR method to achieve satisfactory analysis results. To solve this problem and improve the performance of SR method, this paper proposes an adaptive SR method based on grey wolf optimizer (GWO) algorithm for machinery fault diagnosis. Firstly, the SR system parameters are optimized by the GWO algorithm using a redefined signal-to-noise ratio (SNR) as optimization objective function. Then, the optimal SR output matching the input signal can be adaptively obtained using the optimized parameters. The proposed method is validated on a simulated signal detection and a rolling element bearing test bench, and then applied to the gear fault diagnosis of electric locomotive. Compared with the conventional fixed-parameter SR method, the adaptive SR method based on genetic algorithm (GA-SR) as well as the well-known fast kurtogram method, the proposed method can achieve a greater accuracy. The results indicated that the proposed method has great practical values in engineering.     

Mechanical scanning of the specimen in the scanning electron microscope

A scanning electron microscope (SEM) system equipped with a motor drive specimen stage fully controlled with a personal computer (PC) has been utilized for obtaining ultralow magnification SEM images. This modem motor drive stage works as a mechanical scanning device. To produce ultra-low magnification SEM images, we use a successful combination of the mechanical scanning, electronic scanning, and digital image processing techniques. This new method is extremely labor and time saving for ultra-low magnification and wide-area observation. The option of ultra-low magnification observation (while maintaining the original SEM functions and performance) is important during a scanning electron microscopy session.     

Characterisation of a standard CCD video camera devoted to the design of an efficient particle image velocimetry instrument

A particle image velocimetry (PIV) instrument using a video frame grabbing system and two unsynchronised CCD video arrays was constructed. In the optical device, the two CCD are positioned at two perpendicular axes, with an image splitter located at their intersection and a single imaging lens in front of it. An optical characterisation of each CCD array and the imaging lens is needed to ensure that the field of view is similar for each vision system. Firstly, the experimental method of Cornu was used to deduce the basic optical parameters of the imaging lens. A simple video model was then performed to extract the unknown optical parameters of the device such as the angular field of view, the efficient dimensions of each CCD array and the transfer function from the CCD to the TV screen. An identification method based on global magnification measurements allowed the resolution of the micrometric stages needed for the spatial calibration step of the final instrument, to be deduced. Experimental tests have shown that the aberration in image formation was minimum with this configuration.     

Online parameter identification of the asymmetrical Bouc–Wen model for piezoelectric actuators

The hysteresis of piezoelectric actuators (PAs) possesses the asymmetrical and frequency-dependent characteristics. In order to accurately model the hysteresis of a PA, an asymmetrical Bouc–Wen model is proposed and established in this paper. The recursive least-squares online identification method is used to real-time identify the parameters of the proposed model. Meanwhile, in order to avoid the data saturation phenomenon, the limited memory method is used to limit the number of the data sets. The experimental system is setup and the performance of this method is experimentally verified. Experimental results show that the proposed online identification method can effectively improve the modeling accuracy.     

用于连续体的间隙非线性参数辨识方法

间隙在机械系统中是不可避免的,由间隙引起的接触非线性会严重影响系统的动态响应,使其偏离理想状态,进而降低机械系统的性能和使用寿命。若能利用系统的动态信息识别出间隙非线性参数,就能为机械系统的间隙控制提供依据。针对含间隙连续体系统,提出一种改进的恢复力-位移曲线和条件逆向路径法相结合的间隙非线性参数辨识方法。将哈密尔顿原理推导得到的微分方程简化为空间缩减模型,在获取系统输入和输出的基础上,使用改进的恢复力-位移曲线方法识别连续体系统的间隙值,再利用条件逆向路径法识别间隙接触刚度。整个识别过程在Matlab软件中进行仿真,并在设计的含间隙悬臂梁试验台上进行了参数辨识试验,仿真和试验结果均显示了较高的识别精度,验证了该方法的有效性。     

离轴三反空间相机的焦距测量

离轴三反光学系统的焦距是空间相机的重要指标之一,离轴三反空间相机在完成光学系统装调及光学镜头装配后需要进行焦距测量。通过对两种经典的焦距测量方法即放大率法和测角法进行对比分析,选用测角法作为焦距的测量方法,同时对用于同轴光学系统的焦距测量公式增加离轴角修正量使其适用于离轴三反光学系统,并以某离轴三反空间相机为例论述焦距测量方法及步骤。由修正后的焦距计算公式计算出相机的焦距为8 010mm,证实了该测量方法的可行性。     

Development of soft x-ray time-resolved photoemission spectroscopy system with a two-dimensional angle-resolved time-of-flight analyzer at SPring-8 BL07LSU

We have developed a soft x-ray time-resolved photoemission spectroscopy system using synchrotron radiation (SR) at SPring-8 BL07LSU and an ultrashort pulse laser system. Two-dimensional angle-resolved measurements were performed with a time-of-flight-type analyzer. The photoemission spectroscopy system is synchronized to light pulses of SR and laser using a time control unit. The performance of the instrument is demonstrated by mapping the band structure of a Si(111) crystal over the surface Brillouin zones and observing relaxation of the surface photo-voltage effect using the pump (laser) and probe (SR) method.     

Calibration of a commercial electron microscope with a grating replica to an accuracy of better than 1%

The method of calibration described in this paper depends on (1) bringing every specimen to the ‘eucentric point’ of a side-entry goniometer stage to achieve a constant objective magnification, and (2) monitoring changes in the magnification of the projector lenses with a selected area (SA) aperture in the objective image plane. Under a wide range of operating conditions the aperture gives a sharp image whose diameter is proportional to magnification, so that the calibration is independent of changes in HT, lens currents and remanent magnetism. The method has been validated using Jeol 100C and 100S electron microscopes. The spacing of the standard cross-hatched grating replica was determined by comparing a low magnification electron micrograph, in which it could be measured, with a calibrated phase contrast optical micrograph of the same area. Elliptical distortion (which ultimately limits the accuracy of calibration) was assessed by rotating the specimen through 90°.     

A combined top and side entry specimen stage for a Hitachi H500 transmission electron microscope

The Hitachi H500 transmission electron microscope has been modified in order that both the top and side entry specimen stages may be fitted simultaneously. This made possible top entry multi-specimen operation up to a maximum magnification of × 100,000 and a resolution of 1.8 nm, combined with the normal side entry stage facilities of ±60° tilt, 0.45 nm resolution and × 400,000 magnification.     

Methodological principles for fractal analysis of trabecular bone

A standardized methodology for the fractal analysis of histological sections of trabecular bone has been established.
A modified box counting method has been developed for use on a PC-based image analyser. The effect of image analyser settings, magnification, image orientation and threshold levels was determined. Also, the range of scale over which trabecular bone is effectively fractal was determined and a method formulated to calculate objectively more than one fractal dimension from the modified Richardson plot.
The results show that magnification, image orientation and threshold settings have little effect on the estimate of fractal dimension. Trabecular bone has a lower limit below which it is not fractal (λ < 25 μm) and the upper limit is 4250 μm. There are three distinct fractal dimensions for trabecular bone (sectional fractals), with magnitudes greater than 1.0 and less than 2.0.
It has been shown that trabecular bone is effectively fractal over a defined range of scale. Also, within this range, there is more than one fractal dimension, describing spatial structural entities. Fractal analysis is a model-independent method for describing a complex multifaceted structure, which can be adapted for the study of other biological systems. This may be at the cell, tissue or organ level and complements conventional histomorphometric and stereological techniques.     

High resolution in-focus Lorentz electron microscopy

The Foucault in-focus method for viewing magnetic domains in a conventional electron microscope has been modified. The main feature of our modification is to introduce an aperture below the intermediate lens and to use it for stopping out one part of the split central spot instead of the objective aperture. This arrangement substantially reduces the axial astigmatism due to the objective aperture and makes it possible to reach the point resolution 5–6 nm in both light and dark domains. The image resolution is limited by the small image magnification achieved using the three-stage optical system of a Tesla BS 413 microscope.     

球面二自由度冗余驱动并联机器人系统动力学参数辨识及控制

以伺服电机驱动的球面2-DOF冗余驱动并联机器人为研究对象,首先,建立了机构惯性参数辨识模型,并规划了惯性参数辨识轨迹;其次,建立了机构运动副摩擦参数辨识模型和驱动系统的摩擦参数辨识模型,分别分析了二者的辨识原理,并规划了摩擦参数辨识轨迹;再次,通过辨识实验得到了机构惯性参数、机构转动副摩擦参数和驱动系统摩擦参数的辨识结果,利用辨识结果对原机构参数进行修正,获得了更为准确的机器人系统动力学模型,并通过轨迹测试实验,对辨识结果进行了验证;最后,制定了基于机器人系统动力学模型的前馈控制策略,与传统的机构运动学闭环控制策略进行实验对比,验证了该控制策略的可行性。     

A novel composite adaptive flap controller design by a high-efficient modified differential evolution identification approach

The optimal tuning of adaptive flap controller can improve adaptive flap control performance on uncertain operating environments, but the optimization process is usually time-consuming and it is difficult to design proper optimal tuning strategy for the flap control system (FCS). To solve this problem, a novel adaptive flap controller is designed based on a high-efficient differential evolution (DE) identification technique and composite adaptive internal model control (CAIMC) strategy. The optimal tuning can be easily obtained by DE identified inverse of the FCS via CAIMC structure. To achieve fast tuning, a high-efficient modified adaptive DE algorithm is proposed with new mutant operator and varying range adaptive mechanism for the FCS identification. A tradeoff between optimized adaptive flap control and low computation cost is successfully achieved by proposed controller. Simulation results show the robustness of proposed method and its superiority to conventional adaptive IMC (AIMC) flap controller and the CAIMC flap controllers using other DE algorithms on various uncertain operating conditions. The high computation efficiency of proposed controller is also verified based on the computation time on those operating cases.