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Table of Content

    30 December 2014, Volume 48 Issue 12 Previous Issue    Next Issue
    Automation Technique, Computer Technology
    Tracking Error Compensation of Upper Arm Axial Rotation with Joint DOF Constraint
    JING Xu1,QIU Shiguang1,FAN Xiumin1,2,HE Qichang1,2
    2014, 48 (12):  1667-1674. 
    Abstract ( 784 )   Save

    Abstract: Soft tissue artifact (STA) is the main error source in upper extremity motion tracking using skinmounted marker sets, especially in upper arm axial rotation. To address this problem, an online upper arm axial rotation angular tracking error compensation method was proposed using matrix decomposition of the relative pose data between the connected bodies based on the joint DOFs constraint. Frist, the transformation matrix between the coordinate of each limb segment to the responding tracking sensor was calculated by optimization method using a group of upper extremity motion information with no upper arm axial rotation. In this situation, the relative attitude from the forearm to the upper arm would comply with the two DOFs constraint of elbow. Then, an error compensation motion for the tracking deviation caused by the STA of upper arm axial rotation was introduced into the relative attitude. The compensation angle was calculated online by the decomposition of this relative attitude matrix using three DOFs rotational motions when the motion tracking of the movement of upper extremity with upper arm axial rotation. Vivo upper extremity motion tracking experiments of four subjects show that this method can effectively online fix the upper arm axial rotation tracking error caused by the STA. The compensation accuracy is better than that of the linear error compensation method, especially when the rotation angle range is large.
     

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    Identification of Tools with Failure Barcode Based on Multi-Information Fusion
    WANG Jiajing1,2,ZHANG Zhusheng1,HE Weiping1
    2014, 48 (12):  1675-1680. 
    Abstract ( 815 )   Save

    Abstract: A multi information fusion classification and identification system was proposed in view of the fact that traditional tool identification methods suffered from inefficiency and being susceptible to the bar code failure due to inadequate protection, pollution and other factors in the process of complex production and circulation. First, this system quantized tool features, such as shape, texture, weight and other characteristics, from image sensors and weight sensors. Then, high dimension features vector from both training and testing samples of tool and bar code was extracted. Finally the failure barcode was obtained with the algorithms of support vector machine and DempsterShafer. The experimental results show that the system could classify and identify the tool of destructive bar code accurately and effectively which can satisfy the actual requirement in production.
     

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    An Optically Driven Microgripper Based on Photostrictive Materials
    HUANG Jiahan,WANG xinjie,WANG Jiong
    2014, 48 (12):  1681-1687. 
    Abstract ( 846 )   Save

    Abstract: The microgripper is widely used in microassembly and microoperation application. Aiming at the problem of the existent microgripper, an optical microgripper based on the PLZT bimorph cantilever structure was presented. As the core component of optical microgripper, the photostrictive effect of PLZT ceramic was studied and a novel photostrictive mathematical model was established. Besides, the drive characteristic of PLZT bimorph was derived. Furthermore, the flexible hinged magnifying mechanism was designed and the theoretical calculation of the loading capacity of flexure hinge was conducted. The calculation results show that the carrying capacity of flexure hinges can meet the operating requirements. The optical microgripper can provide wireless remote optically control without electromagnetic disturbance and can pick and place controlled by the illumination. A displacement amplification of 24 and a maximum stroke of 3.880 mm are achieved, which can satisfy the operating requirement of most microobjects.

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    Dynamics Analysis of Bionic Flexible Body Driven by Pneumatic Artificial Muscle for Quadruped Robot
    LEI Jingtao,YU Huangying
    2014, 48 (12):  1688-1693. 
    Abstract ( 948 )   Save

    Abstract: Based on the flexible body movement principle of quadruped creatrures, a kind of bionic flexible body for quadruped robot was presented, which was composed of pneumatic artificial muscles (PAM), bionic spine,fore body and hind body. The geometric method was adopted to analyze the kinematics of the bionic flexible body, and the relationship between the body bending angle and the PAM length when the quadruped robot walks with spinning gait. The body bending can be controlled by controlling the PAM length. The dynamics of bionic flexible body was derived by the floating coordinate method and moment of momentum theory. Then the PAM driving force for body bending with different body kiffness was determined. The experimental system was conducted, and the PID control algorithm was adopted to analyze the body bending. This paper can lay a foundation for improving the mobility of the quadruped robot walking in unstructured environment.

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    Preventive Maintenance Policy for Series Production Systems with Intermediate Buffers
    YU Jiadi,ZHOU Binghai
    2014, 48 (12):  1694-1699. 
    Abstract ( 93 )   Save

    Abstract: To ensure the throughput and reduce the operation cost of per unit time, a model for decisionmakings of preventive maintenances was proposed for series production systems with buffers. First, by analyzing the variation of buffer inventories, a periodic maintenance policy was proposed by taking into account the intermediate buffer and failure of upstream and downstream equipment. Based on the descriptions mentioned above, and in view of the characteristics of series production systems, a maintenance cost model of decisionmakings was established with an objective of minimizing total cost of the system over a defined time horizon. Finally, an evolution algorithm to solve the optimal buffer inventories and maintenance time point was built. The results indicate that the model is valid and practical.
     

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    Video Transmission Control Under Limited Network Bandwidth for Robot Teleoperation
    LI Liang,WANG Hesheng,CHEN Weidong
    2014, 48 (12):  1700-1707. 
    Abstract ( 79 )   Save

    Abstract: This paper presented a bandwidth allocation algorithm for video transmission in robot remote control system. There are multiple video sensors equipped on the robot. The transmission weight of each video was calculated according to the current tasks being executed by the robot. In multiobjective optimization, the algorithm distributeed the transmission bandwidth fairly to each video sensor based on their weight, and could guarantee that the total transmission bandwidth never exceeds the transmission bandwidth provided by the network. The transmission bandwidth was controlled by modifying the resolution and frame rate of the video acquisition. The algorithm reduced the lose rate of frames caused by network congestion, thus protects the integrity of realtime video, makes the  teleoperation tasks of the system complete which depend on the visual image quality. The algorithm is tested by inspection tasks in an actual power plant environment. Smooth video transmission service has been provided and the practicability of the algorithm is also verified.

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    Ship Course Sliding Mode Control System Based on a Novel Extended State Disturbance Observer
    LI Yun,BAI Xiangen,XIAO Yingjie
    2014, 48 (12):  1708-1713. 
    Abstract ( 101 )   Save

    Abstract: Based on nonlinear model for ship motion, making use of the characteristic of sliding mode control, the automatic motion control on ship course change was studied. In view of the interference of waves, and considering the design principles of nonlinear disturbance observer and the characteristics of interference suppression for extended state observer, a novel extended state disturbance observer was designed, which can compensate for the external interference and reduce the shake impact of slidingmode control. The analysis shows that the system ensures the reliability of ship course system and weakens the volatility about course change. The simulation verifies that the system can achieve stable control of the ship course control.

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    A High Precision Particle Filter Based on Improved Differential Evolution
    CAO Jiea,b,LI Yuqina,WU Dib
    2014, 48 (12):  1714-1720. 
    Abstract ( 105 )   Save

    Abstract: A particle filter based on differential evolution with improved fitness function and search strategy was proposed to solve the problem of the low precision and slow convergence rate of particle filters based on intelligent optimization algorithms. The algorithm defined a new fitness function based on adaptive fusion of particle weight and its measurement error. The function was used to evaluate the credibility of the particles and move them to positions with larger values of posterior density function. Synchronously, a new search strategy was introduced to differential evolution which could maintain the diversity of the particles and accelerate the convergence rate of the particle filter. Experiment results show that the proposed algorithm effectively improves the accuracy and realtime performance of the intelligent optimization particle filter for nonlinear system state estimation.

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    A Fast Algorithm Based on RANSAC for Vision Lane Detection
    PENG Hong1,XIAO Jinsheng1,2,SHEN Sanming3,LI Bijun2,CHEN Xian1
    2014, 48 (12):  1721-1726. 
    Abstract ( 294 )   Save

    Abstract: In view of the problems that the real-time, robustness and efficient of the existing lane detection algorithm are low, an improved and fast vision lane detection algorithm based on RANSAC (random sample consensus) was proposed. First, the inverse perspective mapping was conducted. Then, the image was filtered using anisotropic Gasssian filters. The quantile threshold method which has a strong adaptability to different illumination brightness image was used to the filtered image. The initial lines were detected using the histogram statistics method because almost all the lanes in the transform image were vertical. After that, an improved and fast RANSAC curve fitting step was performed to refine the detected initial lines and correctly detect curved lanes. Finally, a postprocessing was conducted to further improve the accuracy of algorithm. The results show that the improved algorithm has a great robustness, strong stability and high efficiency, which can meet the requirements of intelligent vehicle realtime detection.
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    ADRC Path-Following Control of Underactuated AUVs
    WAN Lei1,ZHANG Yinghao1,SUN Yushan1,LI Yueming1,HE Bin1
    2014, 48 (12):  1727-1731. 
    Abstract ( 167 )   Save

    Abstract: To weaken the influence of the disturbance caused by the surroundings and signal transportation when an underactuated autonomous underwater vehicle (AUV) followed a certain path, this paper addressed a pathfollowing control method, based on the secondorder active disturbance rejection control (ADRC), the pathfollowing error equations in SerretFrenet coordinate and the corresponding kinematic and dynamic models. Besides, pathfollowing simulations were made by ADRC and traditional PID separately. The results of the simulations indicate that the controller based on ADRC can follow certain paths and compared with the controller based on traditional PID, it has a better control capability to restrain the shock, overshoot and other phenomena caused by the disturbance.
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    Automatic and Real-Time Extraction Algorithm for Video Object Based on a Graph Cut Frame
    WU XiaoYu1,YANG Lei1,ZHANG YiChun2
    2014, 48 (12):  1732-1738. 
    Abstract ( 90 )   Save

    Abstract: In order to extract foreground object accurately and efficiently in natural scenes, a segmentation algorithm based on the graph cut frame was proposed. First, GMMs background models with the adaptability to the scene change were combined with shadows removal methods using color and local appearance cues to set the data cost in the energy function. Then, the difference based on local binary pattern operator was used to set the smoothness term in the energy function. After that, all pixels were assigned to binary labels by minimizing the energy function by dynamic graph cut algorithm. Finally, the proposed algorithm was verified on different videos. Experimental results prove that the proposed method can cut the foreground object accurately with realtime ability.

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    Joint Monitoring of MMSE-Controlled Processes for AR(p) Disturbances
    ZHANG Rui,DU Shichang,XI Lifeng
    2014, 48 (12):  1739-1744. 
    Abstract ( 136 )   Save

    Abstract: In view of the joint monitoring problem of manipulated inputs and process outputs in minimum-mean-squared-error-controlled processes, a generic joint control chart was developed under the arbitrary order auto regressive AR(p) stationary disturbance model. The out-of-control rule, that is, non-random permutations in in-control dots, was also brought into the joint control chart. Meanwhile, the MMSE controller and the average run length (ARL) of inputs and outputs were derived based on the AR(p) stationary disturbance model. Finally, simulation experiments were implemented to demonstrate the validity of the joint control chart.

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    A Review of Heart Sound Identification Recognition
    CHENG Xiefeng,FU Nüting
    2014, 48 (12):  1745-1750. 
    Abstract ( 107 )   Save

    Abstract: Based on  overseas and domestic research status and analysis of technology maturity in heart sound identification recognition, the correlation between heart sound and identification was described from a technical point of view. The key technologies required for identification system implementation,  including heart sound acquisition devices, heart sound preprocessing, feature extraction and pattern matching, were discussed. Besides, development conceptions and challenges of future heart sound identification recognition were presented.
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    Mathematical sciences and chemical
    A Novel Strategy for Controlling Wind-Induced Vibration of Large Span Transmission TowerLine System
    MA Yongquan,QIU Hongxing
    2014, 48 (12):  1751-1759. 
    Abstract ( 128 )   Save

    Abstract: The robust H2/H∞ controller based multi-objective optimization theory was designed in this paper to suppress the wind-induced vibration on transmission tower-line system and system with dynamic characteristic uncertainties. The controlled motion equation of the transmission towerline coupling system with in-plane/outplane vibration was established by using the D’alembert principle; the uncertain parameters (mass, damping and stiffness) of the system model were introduced into perturbation matrix; the robust H2/H∞ output feedback control strategy was proposed by using linear matrix inequalities (LMI) tool box of the MATLAB; and the H2/H∞_MCO (modified clipped optimal) semiactive controller was designed by introducing the MCO control algorithm into H2/H∞ active controller. Taking the Wenhe-Qingyun large span transmission tower-line system as engineering background, the numerical computation on windinduced vibration of the engineering background under non-control, combined control of both tuned mass damper (TMD) and viscoelastic damper (VED), lead rubber damper (LRD) control, fixed increment (FI) control and H2/H∞_MCO control were conducted, respectively. The results indicate that the windinduced vibration response (including tower displacements, accelerations and tower base internal forces) reduction effect of the H2/H∞_MCO control strategy are obviously superior to those of TMD+VED, LRD and FI control strategies.

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    Numerical Simulation of Flow Control of a Riser Attached with Axial-Rod Shrouds Using Discrete Vortex Method
    HUANG Xilongb,WANG Jiasonga,b
    2014, 48 (12):  1760-1765. 
    Abstract ( 156 )   Save

    Abstract: In this paper, a two dimensional flow around a riser and the one attached with axial-rod shrouds were investigated using discrete vortex method (DVM) respectively. It is shown that at different shroud numbers,  shrouds can suppress the drag and lift coefficients, and vortex shedding to some extent, except for the case of 4 rods number with 45° inflow. The large number of rods achieves better suppression effect. Compared with the results of 10 rods with 4 rods,  it is shown that the 10-rod shroud is less sensitive to the inflow direction than the 4-rod shroud. For the 10-rod shroud, both time-averaged drag coefficient and fluctuating lift coefficient are less than those of the corresponding bare cylinder with a reduction up to about 26% and 79% respectively. DVM can be useful for the research of flow of circular cylinder and flow suppression because of its quick, simple, and reliable features.
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    Numerical Study of Boundary Effect During the Collapse of Single Vapor Bubble
    ZHANG Majuna,CHEN Xina,b
    2014, 48 (12):  1766-1771. 
    Abstract ( 150 )   Save

    Abstract: The collapse under the effect of the two kinds of boundaries was simulated by using the numerical method, coupling the volume of fluid multiphase method and cavitation model, and changing the distance from the single air bubble to the vertical wall and the surface of the water.  In the earlier stage, the shape of bubble was mainly affected by the surface of the water and the upper surface of bubble was sunk. In the final stage, the influence of the wall became notable and the sunken direction pointed to the wall gradually. The closer the distance between the bubble and the wall, the shorter the collapse lasts. While the nearer the distance between the bubble and the surface of water, the longer the collapse continues. The distance between the bubble and the vertical wall determines the peak of pressure on the vertical wall.

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    A Modified Multiaxial Cycle Counting Based on Critical Plane Methods
    LI Yankai,TENG Jinfang,YU Wensheng
    2014, 48 (12):  1772-1776. 
    Abstract ( 108 )   Save

    Abstract: A proper cycle counting method should be selected when predicting the fatigue life of engineering components under variableamplitude and multiaxial random loading. Based on the critical plane method, the Langlais multiaxial rainflow counting algorithm was discussed. Then, a modified Langlais multiaxial rainflow algorithm was proposed and a realization method for modified Langlais multiaxial rainflow algorithm was developed. The modified Langlais multiaxial rainflow algorithm can accurately take into account all load information in the auxiliary channel, corresponding to a complete cycle in the counting channel. And it can be used for the enclosing surface method to calculate the effective stress or strain range. For a new cycle counting process of the 3point rainflow method, the method of choosing the starting point was modified, which improved the efficiency of cycle counting.

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    Love Waves in a FluidSaturated Double-Porosity Layer with Initial Stress
    WU Jiaping,ZHAO Shexu
    2014, 48 (12):  1777-1783. 
    Abstract ( 64 )   Save

    Abstract: Based on the extended Biot theory for doubleporosity media, the propagation behavior of Love waves in a doubleporosity fluidsaturated layer with initial stress lying over a prestressed, anisotropic, inhomogeneous elastic halfspace was studied. The dispersion equation for the Love waves and the upper and lower bounds of the Love wave speed were derived. The effect of the medium characteristics such as porosity, inhomogeneity, anisotropy, initial stress was discussed. Numerical calculation shows that as the storage porosity, the fracture porosity or the percentage of the storage porosity in the total porosity of the layer increases, the phase velocity of Love wave increases. As the anisotropy or heterogeneity of the half space increases, the phase velocity of Love wave increases. No matter in the layer or the half space, tensile initial stresses increase the velocity of Love waves while compressive initial stresses in the layer decrease the velocity of Love waves.
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    Numerical Simulation of Thermal Buckling of Rectangular-Shaped Delamination Bridged by Lateral Fibers in 3D Composites
    ZHU Shen,LI Siping
    2014, 48 (12):  1784-1787. 
    Abstract ( 89 )   Save

    Abstract: A numerical analysis of the thermal buckling was conducted to the thin rectangular plate which was affected by fiber bridges, based on the small deflection theory of plate and ANSYS finite element theory. The analysis results show that with the constrain stiffness growing,the buckling temperature increases and the the buckling region becomes smaller. The numerical simulation results can provide reference for thermal buckling of engineering structures.

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    Communication and Transportation
    Free-Surface Green’s Function of Internal Waves in Uniformly Stratified Fluid
    GAO Yang1,ZHU Renchuan1,MIAO Guoping1,YAO Zhicong2
    2014, 48 (12):  1788-1794. 
    Abstract ( 127 )   Save

    Abstract: A mathematical model and analysis methods for the internal waves generated by pulsating point sources were theoretically established, and the analytic expression of the free-surface Green’s function for ω2>N2 in uniformly density-stratified fluids was derived based on the Fourier transformation and contour integration technique, where N is the buoyancy (or Brunt-V-is-l) frequency. Compared with the previous Green’s function of internal waves, this paper laid emphasis on the consideration of the free surface. A complete description of the properties of solution and the free-surface fluctuation characteristics were discussed in detail. In fact, the pulsating sources do not produce the real internal waves when ω2>N2. The analytical solution corresponds to the influence of density uniformly stratified upon the commonly used Green’s function, which is extremely intuitive on the radiation term.

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    A Method of Viscous CFD/Potential Flow Coupling Iterative Solution for Ship/Propeller Interaction
    YANG Chunlei,ZHU Renchuan,MIAO Guoping,FAN Ju
    2014, 48 (12):  1795-1801. 
    Abstract ( 159 )   Save

    Abstract: Theory prediction method of ship/propulsion interaction is the technical difficulty for predictions of shipspeed performance. A viscous RANS/panel method coupling with the iterative method was proposed to simulate ship/propulsion interaction based on the viscous CFD/potential flow theory. The viscous flow around surface ships was computed by the CFD method and hydrodynamic loads for propellers were computed by the potential panel method. The total velocity in the domain of propeller plane was obtained by viscous solver. The inducedpropeller velocity was substracted from the total velocity, and the effective velocity was obtained and used as the propeller inflow. The effective wake velocity was renewed to calculate the force and induced velocity by the potential solver. Then the iteratations were recycled. The propeller effects were treated as body force terms. The present results of calculation were compared with the experimental data, which shows that the coupling method can solve the ship/propeller interaction very well, and the computational cost is significantly reduced. The coupling method proposed, which incarnates viscous effect and efficiency of potential flow computation,  can be extended to predict ship/propulsion interaction performance and used for design and optimization research.

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    Others
    Positioning for Entry Control of Deep-Sea Risers Based on Image Processing
    LU Xiang,FENG Zhengping,XU Xuesong
    2014, 48 (12):  1802-1808. 
    Abstract ( 86 )   Save

    Abstract: Entry operation is required to connect a riser end with a bottom platform on the seabed. In entry operation, the relative position between the riser end and the bottom platform should be measured. To facilitate entry operation, a positioning approach based on image processing was presented in this paper, which is convenient to measure the relative position between the riser end and the bottom with underwater cameras onboard a remotely operated vehicle (ROV). During image processing, the targets of the riser end and the bottom platform were recognized from the obtained image by matching the contour models of the targets, and the regions of targets were highlighted. In the regions, the coordinates of riser end and the bottom of platform referred to the camera were calculated from rectangle marks on the tabs attached to the riser end and the bottom platform. The relative position between the riser end and the bottom platform can be determined thereby. To test the effectiveness of the approach, a model experiment in water tank was conducted.
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    Unsteady Inverse heat Conduction Problem of Loose Coal Bulk in First Kind Boundary Condition
    CHEN Qinghuaa,b,XU Manmana,PANG Lia,LIU Zegongb,c,GUAN Weijuand
    2014, 48 (12):  1809-1814. 
    Abstract ( 108 )   Save

    Abstract: In order to obtain thermophysical properties of loose coal efficiently and accurately, the unsteady multivariable inverse problem of loose coal bulk based on first kind boundary condition was studied in this paper. The super thermostatic water bath was used to generate constant temperature water, and the constant temperature boundary with the copper plate specimen box was built. Based on the unsteady heat transfer model in first kind boundary condition, the thermal conductivity and thermal capacity of loose coal were estimated using the conjugate gradient method. The results of sensitivity analysis show that the thermal conductivity and thermal capacity can be estimated simultaneously, but because the sensitivity of thermal capacity is too low, it has a big inverse estimation error. Therefore, in order to obtained the thermal conductivity and thermal capacity simultaneously precisely, the thermal diffusivity was estimated and the thermal capacity was modified. Based on the built experimental system, the testing experiment of  thermophysical parameters of loose coal was conducted. The results show that the used inverse algorithm has good accuracy and illposedness, the initial speculated value has no obvious effect on estimation results, and even when the standard deviations of temperature reaches 0.6, the relative error of the inversed results is just 7.53%.
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