WATER MIST FLOW IN A SUPERCONDUCTING MAGNET INCLINED AT VARIOUS ANGLES

Water mist (diamagnetic) flow in a superconducting magnet of 10 T at various angles is studied experimentally and numerically. Water mist is produced by ultrasonic atomizers and fed into a cylindrical Plexiglas pipe (inner diameter, 90 mm) placed in a bore space of an inclined superconducting magnet. The water mist is found to stop at some locations in the magnet at inclined angles ψ ≤ π/6. At ψ ≥ π/4, the amount of mist flowing out of the other opening of the pipe increases with an increase in inclined angle. In the computation of this phenomenon, water mist is simulated with 1000 water droplets of 3 μm diameter. Brownian motion is considered and the Langevin equation is solved. The numerical results show that at ψ ≤ π/6, most of the water droplets accumulate above the magnetic coil. However, at ψ ≥ π/4, with an increase in inclined angle, the number of water droplets passing through the magnetic coil increases.     

基于自由运动一维标定物的多摄像机参数标定方法与实验

一维标定方法易于实现且标定效率高,为了克服现有一维标定方法的一些不足,本文提出一种用一维标定物标定多摄像机内外参数的方法,首先进行两两标定,在此过程中,假定主点坐标近似已知而仅考虑畸变、焦距、旋转和平移等参数,接着利用基本矩阵及一维标定物上特征点之间的几何约束,估计两摄像机的内外参数,两两标定完成后,采用Dijkstra最短路径法和捆绑调整对多摄像机系统进行全局标定(含主点坐标),仿真和真实实验表明本文的方法是切实有效的.     

六自由度机械臂约束预测控制系统的设计

本文提出了一种基于约束预测控制的机械臂实时运动控制方法.该控制方法分为两层,分别设计了约束预测控制器和跟踪控制器.其中,约束预测控制器在考虑系统物理约束的条件下,在线为跟踪控制器生成参考轨迹;跟踪控制器采用最优反馈控制律,使机械臂沿参考轨迹运动.为了简化控制器的设计和在线求解,本文采用输入输出线性化的方式简化机械臂动力学模型.同时,为了克服扰动,在约束预测控制器中引入前馈策略,提出了带前馈一反馈控制结构的预测控制设计.因此,本文设计的控制器可以使机械臂在满足物理约束的条件下快速稳定地跟踪到目标位置.通过在PUMA560机理模型上进行仿真实验,验证了预测控制算法的可行性和有效性.     

基于Hamiltonian马氏链蒙特卡罗方法的突变运动跟踪

在计算机视觉领域,由镜头切换、目标动力学突变、低帧率视频等引起的突变运动存在极大的不确定性,使得突变运动跟踪成为该领域的挑战性课题.以贝叶斯滤波框架为基础,提出一种基于有序超松弛Hamiltonian马氏链蒙特卡罗方法的突变运动跟踪算法.该算法将Hamiltonian动力学融入MCMC（Markov chain Monte Carlo）算法,目标状态被扩张为原始目标状态变量与一个动量项的组合.在提议阶段,为抑制由Gibbs采样带来的随机游动行为,提出采用有序超松弛迭代方法来抽取目标动量项.同时,提出自适应步长的Hamiltonian动力学实现方法,在跟踪过程中自适应地调整步长,以减少模拟误差.提出的跟踪算法可以避免传统的基于随机游动的MCMC跟踪算法所存在的局部最优问题,提高了跟踪的准确性而不需要额外的计算时间.实验结果表明,该算法在处理多种类型的突变运动时表现出出色的处理能力.     

Estimation of Concentration of Particles in Polymerizing Fluid during Centrifugal Casting of Functionally Graded Polymer Composites

The concentration of uniformly distributed particles in a fluid changes with time in the direction of gravitational or centrifugal force to form a concentration gradient. The change in the concentration is an outcome of velocity variation of particles in a fluid. A modified equation for terminal velocity, v _m of particles in polymerizing-fluid under centrifugal force is proposed to estimate the changes in the volume fraction of particles in the graded composites. The proposed equation introduces the effect of cure kinetics of polymer and its effect on particle movement in the model that was based on the modified Stoke’s law, considering the parameters related to particle hindrance, centrifugal force, particle dimensions, viscosity variation etc. The model predictions of concentration changes at the different locations of samples were compared with calcium carbonate filled polysulphide-modified-epoxy graded composites prepared by centrifugal casting.. The effect of particle size, delayed curing rate of matrix were explored. The simulated results are in good agreement with those of experiments.     

基于一致性的小型四旋翼机群自主编队分布式运动规划

设计一种小型四旋翼无人机群起飞后自主形成正多边形编队的分布式运动规划方法.在四旋翼无人机的串级控制系统框架下,分布式编队控制器以简化agent模型为基础,同时采用平均一致性算法和有领导一致性算法,共同产生各无人机位置与偏航角的期望轨迹.讨论了达成最终协调目标队形的拓扑条件,并给出一种基于有向Hamilton环的通信拓扑设计方案.最后通过数值仿真验证了所提出算法的有效性.     

基于双天线GNSS/SINS组合的风速测量运动补偿方案设计

以基于浮标平台的动态风速测量为背景,根据运动姿态补偿的原理和实际需要,设计了一套双天线GNSS/SINS组合姿态测量系统,采用卡尔曼滤波实现信息融合,通过在卡尔曼滤波的观测量中引入双天线GNSS输出的航向角信息,解决了惯性系统航向角可观测性较弱的问题,并通过实验验证了系统的有效性。实验结果表明,该运动补偿设计方案能够提高平台姿态测量的精度和稳定性,准确测量平台的姿态信息,并有效降低平台运动对风速测量的影响,风速测量误差低于4%,满足了海洋浮标观测的需求。     

A visual study on flame behavior in tone-excited non-premixed jet flames

A visualization study on the effect of forcing amplitude in tone-excited jet diffusion flames has been conducted. Visualization techniques are employed using optical schemes, which are a light scattering photography. Flame stability curve is attained according to Reynolds number and forcing amplitude at a fuel tube resonant frequency. Flame behavior is globally grouped into two from attached flame to blown-out flame according to forcing amplitude; one sticks the tradition flame behavior which has been observed in general jet diffusion flames and the other shows a variety of flame modes such as the flame of a feeble forcing amplitude where traditionally well-organized vortex motion evolves, a fat flame, an elongated flame, and an in-burning flame. Particular attention is focused on an elongation flame, which is associated with a turnabout phenomenon of vortex motion, and on a reversal of the direction of vortex roll-up. It is found that the flame length with forcing amplitude is the direct outcome of the evolution process of the formed inner flow structure. Especially the negative part of the acoustic cycle under the influence of a strong positive pressure gradient causes the shapes of the fuel stem and fuel branch part and even the direction of vortex roll-up to dramatically change.     

Controlling aliased dynamics in motion systems? An identification for sampled-data control approach

Sampled-data control systems occasionally exhibit aliased resonance phenomena within the control bandwidth. The aim of this paper is to investigate the aspect of these aliased dynamics with application to a high performance industrial nano-positioning machine. This necessitates a full sampled-data control design approach, since these aliased dynamics endanger both the at-sample performance and the intersample behaviour. The proposed framework comprises both system identification and sampled-data control. In particular, the sampled-data control objective necessitates models that encompass the intersample behaviour, i.e., ideally continuous time models. Application of the proposed approach on an industrial wafer stage system provides a thorough insight and new control design guidelines for controlling aliased dynamics.     

Explicit solution of relative entropy weighted control

We consider the minimization over probability measures of the expected value of a random variable, regularized by relative entropy with respect to a given probability distribution. In the general setting we provide a complete characterization of the situations in which a finite optimal value exists and the situations in which a minimizing probability distribution exists. Specializing to the case where the underlying probability distribution is Wiener measure, we characterize finite relative entropy changes of measure in terms of square integrability of the corresponding change of drift. For the optimal change of measure for the relative entropy weighted optimization, an expression involving the Malliavin derivative of the cost random variable is derived. The theory is illustrated by its application to several examples, including the case where the cost variable is the maximum of a standard Brownian motion over a finite time horizon. For this example we obtain an exact optimal drift, as well as an approximation of the optimal drift through a Monte-Carlo algorithm.