A robust photoelectric angular position sensor especially for a steerable underground boring tool

In order to avoid the disadvantages of the present angular position sensors for determining the rotation orientation of a steerable underground boring tool, a new photoelectric method utilizing photoelectric switches and the corresponding sensor are established. The sensor comprises a gravitational ball, one or more light sources and an array of photodetectors, and realizes angular position measurement by setting a block between the light source and the corresponding photodetector which is rotated to the lowest point. The concrete configurations are described in detail and a typical prototype is illustrated. The photoelectric angular position sensor is compact, simple, low-cost. It can resist harsh environmental conditions such as vibration, excessive ambient temperature, dirt, moisture and dew, so it is especially well-suited for a steerable underground boring tool.     

Analysis and design of a new piezoresistive tactile sensor system for robotic applications

The development of an experimental tactile sensor system fitted on a robot work-table is analyzed in this paper. In the first stage of this research a 16 × 16 piezoresistive sensor was used, attached on the work-table of an ASEA IRB-2000 robot. The keypoint of the above design is that the sensor is not used just to obtain texture information, as it is happens when it is fitted on the gripper, but also to obtain tactile data from the object nonvisible base-surface and finally the object weight. The experimental system is designed so as to allow variation in the design parameters to determine the best set of parameter values for optimal performance of the sensor. Experiments carried out show the operability of the above system and, furthermore, the advantages using this sensor topology.     

新型机器人手指六维力传感器系统设计

针对六维力传感器刚度低、尺寸大等问题,设计了一种可应用于机器人手指的、新型Stewart并联结构的六维力传感器。对该六维力传感器的结构、测量电路等进行了设计,并对传感器标定数据进行了分析,结果表明该传感器系统设计理论正确,且具有一定应用价值。     

提高机器人位置、速度传感器分辨力的方法

用光栅构成的机器人速度、位置传感器测量系统常用硬件进行信号细分,存在细分数不高,硬件复杂等问题。为此,研究了一种神经网络细分方法,并研究了一种用于细分的直接映射小脑模型神经网络。实验和实用证明,研究的小脑神经网络具有学习精度高、速度快,算法简单等特点;只要用很少的训练样本即可达到很高的细分精度,使分辨力得到很大提高,简化了硬件设计,提高了系统的可靠性。     

光栅在角位移传感器中的应用

阐述如何利用光栅精密测量的特性 ,实现角度位移变量的测量及电信号的转换 ,在此基础上采用脉冲鉴相及四倍频电路实现信号方向识别和提测量精度。这种应用具有抗干扰能力强、结构简单的特性。     

Thin film integrated AMR sensor for linear position measurements

A simple anisotropic magnetoresistive (AMR) sensor for linear positioning is designed as integrated bridge structure and implemented based on standard technology processes and rotation of the initial anisotropy axis after the patterning of the resistors. The behavior of the separate resistors is investigated by varying the intensity (0 ± 5 kA/m) and direction (0°, 45°, 90° in respect to the initial anisotropy axis) of the applied magnetic field. The experimental results are compared with data from simulation based on detailed analysis of the energy profile. Good agreement is obtained at assumed declination of 15° between the anisotropy and geometrical axes of the resistors. It is shown that in spite of asymmetries and hysteresis observed at low magnetic fields at higher fields used usually for the purposes of automation the response of the structure is single-valued and stable.     

一种高速磁浮列车定位传感器的标定工具

高速磁浮列车定位传感器的标定需要确定传感器输出电压对应水平位移和垂直间隙2个变量的二维表,数据量大。介绍了一种采用RS—485接口传输信号的标定工具,叙述了计算机控制下步进电机带动标定台二自由度移动的自动标定过程。实验结果证明了该工具的可行性。     

旋转变压器位置检测在EPS中的应用

对角度传感器——旋转变压器的原理以及其数字化检测做了详细的介绍,系统地阐述了旋转变压器角位置检测的几种常用的方法,并从中选出一种方法应用到电动助力转向系统当中。简述了旋转变压器数字变换器(RDC)集成电路AD2S83及它们在电动助力转向系统中的应用,达到了该系统对角度测量±1.2°的精度要求。     

Hysteresis compensation in a magnetostrictive linear position sensor

A new linear position sensor (Micrus) has been developed, based on the transmission of ultrasonic signals in a waveguide. Waves are generated at the cursor position by the magnetostrictive effect, and their times of flight to the ends of the waveguide are used to estimate the position of the mobile element. The choice of the generating/transmitting metal for this kind of sensor is discussed. We have found that the magnetic hysteresis inherent to the magnetostrictive phenomenon translates into measurement hysteresis, affecting the performance of the sensor. An explanation of the link between both effects is given, and a compensation technique based in focusing the ultrasonic generation is offered. This compensation technique is tested using an electromagnetic finite element method program and then empirically in the Micrus sensor, with satisfactory results.     

一种车窗防夹光纤传感系统

提出一种车窗防夹的多模光纤传感系统, 该系统安装在车窗框内,并基于斑纹图样的变化来获得信号.斑纹图样的变化被光电传感器阵列测量,其传感信号经过A/D转换器送进计算机内进行处理,然后,驱动车窗马达进行相应的动作.实验结果表明:该系统工作良好.     

Optical CMOS sensor system for detection of light sources

An integrated silicon colour measurement system has been designed for low-cost measurement of ambient light conditions, which can be used for adaptive control of displays in portable instruments, or for testing the intensity or colour temperature of light sources. The system is CMOS compatible and has a bitstream output. The response of two vertically stacked photodetectors with a different spectral response are sequentially available at the output. It is demonstrated that daylight can be clearly distinguished from several other light sources, such as incandescent lamps and fluorescent lamps.     

基于先验概率模型的混合水下传感器网络部署

针对水下传感器网络,结合水声通信和光通信两种通信方式的优点,设计了新的水下传感器网络结构。根据水下目标分布的先验概率模型,提出了混合水下传感器网络部署算法,实现了水下数据的高速传输和水下目标区域的高效覆盖。仿真结果表明,算法能够较好地减少网络部署的节点数目、缩短数据传输延时,减少能量损耗,延长网络寿命。     

一种可用于溶解氧测定的光纤氧传感器

用Ru(bpy)3Cl2为指示剂，研制一种能用来测定溶解氧的光纤氧传感器，该传感器的响应时间小于30S，检测下限为0．5mg/L，检测准确度0．01mg/L，并具有较强的抗干扰能力，较好的重复性和稳定性，可用于对环境水质的在线监测。     

全分布式光纤温度传感器研究的进展及趋势

综述了基于光时域反射和光频域反射的分布式温度光纤传感器的原理、技术以及最新的研究进展 ,并在此基础上分析了温度光纤传感器的发展趋势。     

光电位置传感器在海绵复卷纠偏控制中的应用

对生产线上具有弹性的海绵复卷纠偏控制进行了阐述,使用步进电机和滚珠丝杠作为执行机构进行纠偏.对位置传感器的作用和工作原理进行了具体的分析,把位置传感器用在海绵布纠偏控制中检测出海绵布的跑偏位置,然后控制系统通过传感器发出的信号来控制整个装置,并且利用智能PID控制算法使之达到期望的效果.这种纠偏控制具有纠偏方式多样性,纠偏精度高等优点.     

复合纤维材料中压力传感器的应力分析和优化

在流量控制系统中,需要在由复合纤维材料制成的机翼中嵌入压力传感器.由于机翼结构会对压力传感器的性能产生影响,因此,通过有限元分析软件对该模型在一定拉力作用下的应力情况进行模拟,发现在压力传感器的边缘出现了应力集中.通过3种改进设计,可以降低或者消除应力集中,即对传感器的4个外直角进行倒棱操作;将传感器旋转45°后嵌入;在传感器外围黏合铝合金薄片.在对上述3种优化方法进行有限元分析模拟后,发现在传感器外围黏合铝合金薄片有效提高了传感器的抗拉强度,消除了应力集中.     

掘进工作面瓦斯涌出预警传感器布置位置探讨

针对矿井现有瓦斯传感器布置主要为瓦斯爆炸、瓦斯积聚等灾害监测而布置,而非为监测工作面瓦斯涌出特征而布置的情况,探讨了一种工作面瓦斯传感器的位置布置方案。试验结果表明,将传感器布置在距离工作面5m左右的距离,其监控数据较为符合工作面真实的瓦斯涌出情况,满足监测工作面瓦斯涌出特征的需要;矿井现有的掘进工作面迎头瓦斯传感器布置方式能满足监测工作面瓦斯涌出特征的需要。     

光纤电流传感器的研究及矿用前景

对光纤电流传感器─根据Ｆａｒａｄａｙ效应而引起传输的偏振光方向发生变化，测出磁场进而检测出电流值的新型光纤电流传感器进行研究。同时，针对煤矿中的实际情况，讨论其应用前景。     

地震微观前兆预报网络系统设计研究(4)——网络系统设计

提出了地震微观前兆预报网络系统设计的一整套详细方案,包括地震模型、基岩传感器网络和数据融合、信号处理技术和网络系统设计.本文介绍网络系统设计方案,包括光纤传感器在地震预报网络中的应用、传感器网络平台的选择和网络设计、地震源定位的相干声阵列处理技术、光数据通信技术.     

Development of a mobile robotic system for working in the double-hulled structure of a ship

Shipbuilding processes involve highly dangerous manual welding operations. Welding ship walls inside double-hulled structures presents a particularly hazardous environment for workers. This paper describes the “Rail Runner X” (RRX), a new robotic system that can move autonomously inside the walls of a double-hulled ship and automatically execute the required welding processes. The RRX robotic system is composed of a mobile platform and a welding robot consisting of a 3P3R serial manipulator. The robot is used to weld U-shaped trajectories located between two longitudinal stiffeners. The mobile platform enables traverse movements onto neighboring longitudinal stiffeners. The entire cross section of the robotic system is small enough to be placed inside the double-hulled structure via a conventional access hole from the outside shipyard floor. The overall engineering design process that led to the final robot solution developed is presented in this paper, including kinematic analysis data and experimental results for verifying the autonomous movement and welding performance.