基于代数神经网络信息融合的侧向定位的实验研究

为提高移动机器人的工位定位精度,通过实验分析了超声波传感器的测量距离d和入射角α对测量精度的影响.基于代数神经网络能实现样本空间的精确映射并具有较好非线性逼近能力,设计了一种移动机器人侧向定位融合模型.经实验比较,该定位融合模型具有较高的精度,使得位置误差小于0.9957mm,角度误差小于0.2966°.将该定位融合模型应用于自主研发的移动机器人的定位实验中,定位位置精度可达到±2.5mm,姿态角精度可达到±0.42°,满足定位要求.     

一种闭环控制圆光栅角度分度测量装置

研制闭环控制的用于角度标定与测量的分度装置,该装置以永磁直流力矩电机驱动精密轴系主轴的运转带动角度分度盘的转动,以圆光栅测量系统检测主轴的转动角度.由电流环、速度环和位置环组成的闭环控制系统实现零误差分度定位控制.研究圆光栅测量信号处理中信号细分形成的系统非线性误差对分度精度的影响,建立误差修正模型.经检定,系统在±5°的角度范围内分度精度达到±0.2",定位重复性0.06".     

入射角度变化对角锥棱镜测量精度的影响

为了掌握角锥棱镜用在激光跟踪仪中光束入射角度变化对其测量精度的影响规律。详细分析了角锥棱镜的工作原理和反射特性。计算出了角锥棱镜在不同入射角下的实际有效反射面积,并建立了角锥棱镜有效反射面积随光束入射角度变化的理论公式,进而得到角锥棱镜测量精度随光束入射角度变化的规律。实验结果表明：角锥棱镜测量精度随入射角增大而减小,在最大允许入射角处发生突变。在最大允许入射角±35.26°时其测量误差达到0.050mm;而在±20°范围内时其测量精度优于0.010mm,且入射角度在±15°范围内其测量精度最高,稳定性最好。所得结论证明了当角锥棱镜在入射角度为±20°范围内工作时能满足了激光跟踪仪的测量精度要求,这对角锥棱镜设计和实际测量工作具有指导意义。     

基于遗传算法与最小最大优化方法的六自由度放疗床参数辨识方法

为了对放疗床进行结构标定,以提高放疗床的定位精度,提出了一种遗传算法与最小最大优化方法相结合的参数辨识方法。根据机构的运动学逆解建立了放疗床的标定模型;结合遗传算法与最小最大优化方法的优点对放疗床的60个参数进行参数辨识,有效减小了目标函数的残差;以激光跟踪仪作为测量工具,对若干组任意位姿进行绝对定位精度实验和重复定位位置精度实验,以验证参数辨识结果。实验结果表明,经过标定后放疗床的绝对定位精度的位置误差小于0.3mm,姿态误差小于0.1°;重复定位位置精度的位置误差小于0.01mm。故所提出的参数辨识方法能够实现对放疗床的标定,且标定精度能够满足放疗床的使用要求。     

基于三维激光扫描的移动大尺寸圆柱体工件长度快速检测系统

针对移动大尺寸圆柱体工件两端的表面形貌特征,利用三维激光扫描仪设计了一种快速长度在线检测系统。基于三维激光扫描仪可在短时间内连续高速获取大量测量数据的特点,系统在虚拟环境下构造出自适应测量形状的虚拟测量基准面,采用二维误差分离方法抑制系统误差和运动误差,识别定位工件两端端点并计算其到虚拟测量基准面的位移;最后结合多传感器融合模型获取三维位移场测量结果。另外,测试前用三坐标测量机精密测量过的相似形状圆柱体工件对系统进行了校准修正。为验证系统的精度和可靠性,分别对处于（1 000±25）mm内不同直径的圆柱体工件进行了长度检测。结果显示,系统可在1 s完成直径约为50 mm工件的长度测量,检测分辨力为0.010 mm,检测精度达到0.050 mm。实际运行结果表明,该设计系统具有高自动性和高效性,可满足在线生产中对大尺寸工件控制和检测的要求。     

三角度磁巴克豪森测量平面应力方法研究

为了提升磁巴克豪森（magnetic Barkhausen noise,简称MBN）应力测量效率,提出了一种三角度磁巴克豪森测量平面应力的方法,分析了角度选择对精度的影响。为了减小标定的不确定性,提出了一种基于多维特征重构不确定性度量空间的贝叶斯标定方法。实验结果表明,当应力大于50 MPa时,采用相互间隔60°的3个角度,可实现主应力值测量误差不大于±10 MPa、方向测量误差不大于±5°。贝叶斯标定模型进一步将幅值误差降低到±5?MPa以下,并将方向测量的±5°误差带扩展到40 MPa的低应力区。该研究方法为工程中采用磁巴克豪森高效、准确测量平面应力奠定了基础。     

锥面直线度测量及立车运动精度的提高

如图1所示的零件的45°锥角是90°度外滚道的一半。为了保证内外90°滚道和滚柱配合的接触精度,设计要求45°圆锥面母线的直线度误差不大于0.01mm,半锥角误差为±1′15″。对于大型零件锥面精度的测试采用传统的测试方法与手段,存在一些问题: 1.直线度误差的测量直线度误差的传统测量方法是用刀口尺测量,即将刀口尺和被测表面的实际轮廓线紧密接触(如图2     

基于结构光测量系统的误差传递分析

结构光系统作为视觉测量中常见的技术之一,其测量精度直接影响了该系统的应用范围。针对交比不变原理的结构光光平面标定方法,利用误差分析理论和矩阵扰动原理分别从系统的测量误差和光平面标定误差进行分析,提出了结构光测量系统的误差传递模型。并给出了一个特例情况下的精度要求,即满足在1000mm的测量距离上获得±0.5mm的测量精度情况下,各标定参数所需要满足的精度要求,以及标定样本提取的精度要求。通过实测实验结果验证了误差分析的有效性。该误差分析为提高结构光系统的测量精度提供了理论依据。     

基于线结构光视觉传感器的圆孔定位误差分析

针对空间圆（类圆）孔几何量测量,传统视觉测量方法一般采用双目立体模型,基于立体像对实现对圆孔空间位置的测量,由于传感器成本、体积、重量等的限制,在特殊视觉系统,尤其在发展迅速的基于工业机器人平台的柔性视觉检测系统中均凸显其不足。本文基于单摄像机架构的线结构光视觉传感器,提出圆（类圆）孔定位两步法,并对被测圆心x ,y ,z 向坐标测量误差进行了详细讨论和分析。通过对被测圆心定位误差的分析计算,在实际测量应用中,z 向测量精度可以优于±0.25mm,x, y 向测量精度优于±0.006mm。研究结果表明该方法切实可行,可以满足实际测量需求,极大地扩展了线结构光视觉传感器的应用范围。     

影像法测量透镜中心误差的研究

基于现代传感技术和数字图像处理技术,通过对透镜中心误差的分析研究,提出了一种透射式影像法测量透镜中心误差的方法,建立了基于CCD图像的实时测试系统。实验表明,透镜中心误差测量的标准偏差达到了0．0038mm,极限误差为±0．0115mm,证明该系统对于测量透镜中心误差具有很好的实用性。     

Minimal Realization of Linear Graph Models for Multi-physics Systems

An engineering system may consist of several different types of components,belonging to such physical"domains"as mechanical,electrical,fluid,and thermal.It is t...     

INTEGRAL EQUATION METHOD＇S APPLICATION IN HOLE-EDGE STRESS OF COMPOSITE MATERIAL PLATE WITH DIFFERENT SHAPED HOLES

The strength of composite plate with different hole-shapes is always one of the most important but complicated issues in the application of the composite material. The holes will lead to mutations and discontinuity to the structure. So the hole-edge stress concentration is always a serious phenomenon. And the phenomenon makes the structure strength decrease very quickly to form dangerous weak points. Most partial damage begins from these weak points. According to the complex variable functions theory, the accurate boundary condition of composite plate with different hole-shapes is founded by conformal mapping method to settle the boundary condition problem of complex hole-shapes. Composite plate with commonly hole-shapes in engineering is studied by several complex variable stress fimction. The boundary integral equations are founded based on exact boundary conditions. Then the exact hole-edge stress analytic solution of composite plate with rectangle holes and wing manholes is resolved. Both of offset axis loadings and its influences on the stress concentration coefficient of the hole-edge are discussed. And comparisons of different loads along various offset axis on the hole-edge stress distribution of orthotropic plate with rectangle hole or wing manhole are made. It can be concluded that hole-edge with continuous variable curvatures might help to decrease the stress concentration coefficient; and smaller angle of outer load and fiber can decrease the stress peak value.     

Non-monotonic material contrast in scanning ion and scanning electron images

30 keV Ga⁺ focused ion beam induced secondary electron (iSE) imaging was used to determine the relative contrast between several materials. The iSE signal compared from C, Si, Al, Ti, Cr, Ni, Cu, Mo, Ag, and W metal layers does not decrease with an increase in target atomic number Z₂, and shows a non-monotonic relationship between contrast and Z₂. The non-monotonic relationship is attributed to periodic fluctuations of the stopping power and sputter yield inherent to the ion–solid interactions. In addition, material contrast from electron-induced secondary electron (eSE) and backscattered electron (BSE) images using scanning electron microscopy (SEM) also shows non-monotonic contrast as a function of Z₂, following the periodic behavior of the stopping power for electron–solid interactions. A comparison of the iSE and eSE results shows similar relative contrast between the metal layers, and not complementary contrast as conventionally understood. These similarities in the contrast behavior can be attributed to similarities in the periodic and non-monotonic function defined by incident particle–solid interaction theory.     

Application of Feature Extraction through Convolution Neural Networks and SVM Classifier for Robust Grading of Apples

This paper proposes a novel grading method of apples,in an automated grading device that uses convolutional neural networks to extract the size,color,texture,an...     

分布动态载荷识别的抗噪处理

针对正交多项式频域法在用多种响应对矩形薄板进行载荷识别中抗噪性较差的问题,综合运用平均法、矩阵预处理和奇异值截断法等方法对之进行改善,并引入空间映射的思想,将该方法的应用范围拓展为复杂的模型.利用仿真算例,证实了该方法具有较好的抗噪性.     

基于MELTAC-N平台的核电厂安全级DCS环网研究与测试

针对工程实践中环网通讯相关问题的处理缺乏理论基础及国产化安全级DCS平台的开发缺乏成熟经验借鉴问题,对基于MELTAC-N平台核电厂安全级DCS环网的软硬件实现进行了研究。提出了安全级DCS环网双环网冗余设计、光切换开关设计等硬件设计方法,以及以RPR协议为基础,采用全数据收发策略的软件设计方法。在CPR1000安全级DCS平台上对安全级DCS环网的可靠性及实时性进行了评价,并进行了容错能力、响应时间及响应时间稳定性测试验证实验。结果表明,基于MELTAC-N平台安全级DCS环网软硬件设计具有较好的容错能力及响应时间稳定性。     

Short-Term Relay Quality Prediction Algorithm Based on Long and Short-Term Memory

The fraction defective of semi-finished products is predicted to optimize the process of relay production lines, by which production quality and productivity ar...     

End-to-End Multiview Gesture Recognition for Autonomous Car Parking System

The use of hand gestures can be the most intuitive human-machine interaction medium.The early approaches for hand gesture recognition used device-based methods....     

The laboratory simulation of abrasive wear

Abrasive wear has long been recognised as one of the most potentially serious tribological problems facing the operators of many types of plant and machinery; several industrial surveys have indicated that wear by abrasion can be responsible for more than 50% of unscheduled machine and plant stoppages. Locating the operating point of a tribological contact in an appropriate operational ‚map’︁ can provide a useful guide to the likely nature and origins of the surface degradation experienced in use, though care must be exercised in choosing the most suitable parameters for the axes of the plot. Laboratory testing of materials and simulations of machine contacts are carried out for a number of purposes; at one level for the very practical aims of ranking candidate materials or surface hardening treatments in order of their wear resistance, or in an attempt to predict wear lives under field conditions. More fundamentally, tests may be aimed at elucidating the essential physical mechanisms of surface damage and loss, with the longer term aim of building an analytical and predictive model of the wear process itself. In many cases, component surface damage is brought about by the ingress of hard, particulate matter into machine bearing or sealing clearances. These may be running dry although, more usually, a lubricant or service fluid is present at the interface. A number of standardised wear test geometries and procedures have been established for both two- and three-body wear situations, and these are briefly described. Although abrasive wear is often modelled as following an ‚Archard’︁ equation (i.e. a linear increase in material loss with both load and time, and an inverse dependence on specimen hardness) both industrial experience and laboratory tests of particularly lubricated contacts show that this is not always the case: increasing the hardness differential in an abrasively contaminated lubricated pair may not always reduce the rate of damage to the harder surface.     

ANGULAR DISTORTION ALLOWABLE VALUE AND ASSESS METHOD OF WELD ON COKE TOWER

A graph as the new engineering method for estimate the safety of bulging deformation of coke tower is proposed. Through stresses analysis of circumferential weld of coke tower and comparing the stresses produced by pressure with heat stress of steady state, residual stress, bending stress produced by both itself weight and wind loads, it showed that the stresses produced by pressure on the angle distortion are the main factor of equivalent stress of the combined stress. After comparing four kinds of stress controlling conditions, the relation to stress with depth of angular distortion, grade of curvature of angular distortion and half of region of angular distortion has been inferred. Graph of deformation allowable value of coke tower for different condition by angular distortion and half of region of angular distortion has been plotted. The five steps for its engineering use have been explained. The lighter the grade of curvature is, the larger of bulge allowance, may be, and the bigger of depth of angular distortion may pose too. For the coke tower with a popular structure of Dg 5 400 mm×28 mm, the result by graph is nearly more than the result of two formulas formed by other research, the error is less than 7.0%. But, the graph can be easily applied to different size of angular distortion.