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Numerical simulation and experimental research on the wheel brush sampling process of an asteroid sampler

《机械工程前沿（英文）》 2023年 第18卷 第2期 doi: 10.1007/s11465-022-0732-0

摘要： To examine the environmental characteristics of the microgravity force and the weathered layer on an asteroid surface, a symmetric wheel brush asteroid sampler is proposed for the collection of particles on the asteroid surface. To study the influence of the wheel brush rotation speed on the sampling efficiency and the driving torque required for the wheel brush, the contact dynamics model between particles and sampling wheel brushes is established and a simulation and experimental verification of the sampling process are conducted. The parameter calibration of the sampled particles is studied first, and the calibrated particle parameters are used in the numerical simulation of the sampling process. The sampling results and the particle stream curves are obtained for the working conditions of different rotation speeds, and the effects of different parameter settings on the sampling efficiency are analyzed. In addition, a set of rotating symmetrical sampling wheel brush devices is built for the ground test, and the dynamic torque sensor is used to test the torque change of the wheel brush during the sampling process. The relationship between the speed of the wheel brush and the driving torque of the wheel brush motor is determined by comparing the simulation results with the test results. Results indicate that when the rotating speed of the wheel brush is faster, the sampling efficiency is higher, and the driving torque required for the sampling wheel brush is greater. Moreover, a numerical simulation analysis of the sampling process of the wheel brush sampler in a microgravity environment is conducted to determine the optimal speed condition, and the brushing test of the wheel brush sampler in the microgravity environment is verified with the drop tower method. This research proposes the structural optimization design and motor selection of a wheel brush asteroid sampler, which provides important reference value and engineering significance.

关键词： asteroid sampling     wheel brush sampler     discrete element method     parameter calibration     experimental research    

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A “Sequential Design of Simulations” approach for exploiting and calibrating discrete element simulations of cohesive powders

《化学科学与工程前沿（英文）》 2022年 第16卷 第6期   页码 874-885 doi: 10.1007/s11705-021-2131-1

摘要： The flow behaviours of cohesive particles in the ring shear test were simulated and examined using discrete element method guided by a design of experiments methodology. A full factorial design was used as a screening design to reveal the effects of material properties of partcles. An augmented design extending the screening design to a response surface design was constructed to establish the relations between macroscopic shear stresses and particle properties. It is found that the powder flow in the shear cell can be classified into four regimes. Shear stress is found to be sensitive to particle friction coefficient, surface energy and Young’s modulus. A considerable fluctuation of shear stress is observed in high friction and low cohesion regime. In high cohesion regime, Young’s modulus appears to have a more significant effect on the shear stress at the point of incipient flow than the shear stress during the pre-shear process. The predictions from response surface designs were validated and compared with shear stresses measured from the Schulze ring shear test. It is found that simulations and experiments showed excellent agreement under a variety of consolidation conditions, which verifies the advantages and feasibility of using the proposed “Sequential Design of Simulations” approach.

关键词： discrete element method     cohesive materials     parameter calibration     ring shear cell     design of experiments    

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Development of a novel hand−eye calibration for intuitive control of minimally invasive surgical robot

《机械工程前沿（英文）》 2022年 第17卷 第3期 doi: 10.1007/s11465-022-0698-y

摘要： Robotic-assisted surgical system has introduced a powerful platform through dexterous instrument and hand−eye coordination intuitive control. The knowledge of laparoscopic vision is a crucial piece of information for robot-assisted minimally invasive surgery focusing on improved surgical outcomes. Obtaining the transformation with respect to the laparoscope and robot slave arm frames using hand−eye calibration is essential, which is a key component for developing intuitive control algorithm. We proposed a novel two-step modified dual quaternion for hand−eye calibration in this study. The dual quaternion was exploited to solve the hand−eye calibration simultaneously and powered by an iteratively separate solution. The obtained hand−eye calibration result was applied to the intuitive control by using the hand−eye coordination criterion. Promising simulations and experimental studies were conducted to evaluate the proposed method on our surgical robot system. We extensively compared the proposed method with state-of-the-art methods. Results demonstrate this method can improve the calibration accuracy. The effectiveness of the intuitive control algorithm was quantitatively evaluated, and an improved hand−eye calibration method was developed. The relationship between laparoscope and robot kinematics can be established for intuitive control.

关键词： minimally invasive surgery     hand−eye calibration     intuitive control     surgical robot     dual quaternion    

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新安江模型参数有效优化及不确定性评估

王文川,程春田,邱林,杨斌斌

《中国工程科学》 2010年 第12卷 第3期   页码 100-107

摘要：

应用新安江模型进行水文模拟时，由于模型本身的不足及参数多、信息量少等原因，会出现率定的最优参数组不唯一、不稳定等问题。考虑到以往的参数优选，都只得出一个参数组，不能反映出其不确定性状况。提出应用基于马尔可夫链蒙特卡罗（MCMC）理论的SCEM-UA算法，通过双牌流域以1 h为时段间隔的36场典型洪水数据对新安江模型参数进行优选和不确定性评估。结果表明，该算法能很好地推出新安江模型参数的后验概率分布；率定和检验结果分析也表明，应用SCEM-UA算法对新安江模型进行优选和不确定评估是有效和可行的。

关键词： 新安江模型     参数率定     不确定性评估     SCEM-UA    

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一种机械臂在线标定装置开发 Research Article

万梓威1,2,周春琳1,3,张昊天4,吴俊1

《信息与电子工程前沿（英文）》 2023年 第24卷 第2期   页码 217-230 doi: 10.1631/FITEE.2200172

摘要：

提出一种名为MultiCal的新型接触式三维测量装置，可用于机械臂的现场标定和在线精度测量，具有使用方便、成本低（低于5000美元）、性能可靠等优点。该设备可灵活地设置在机械臂的工作环境中进行微米级精度三维测量。在标定过程中，通过一个三维位移测量装置，让机械臂的工具中心点运动至一个固定点，之后再绕该点旋转运动至不同姿态角并测量各关节角度（单点约束测量）。然后采用一个创新设计的夹具，将三维位移测量装置精确地安装在该夹具的不同工位上，并重复上述测量过程，从而实现多点约束测量。夹具上不同工位的相对位置在标定前已被精确测量，并作为标定的先验信息，以提高标定的精度与鲁棒性。理论分析表明，在相同水平的测量误差下，MultiCal的理论标定精度与传统的非接触式三维或六维测量设备（如激光跟踪器）相比降低10%—20%。而在Staubli TX90机械臂上进行的实际标定实验结果表明，MultiCal实际标定精度仅比带激光扫描仪的测量臂低7%—14%，时间效率比六维双目视觉测量系统低21%—30%，标定后的机械臂的最大和平均绝对定位误差分别为0.831 mm和0.339 mm。

关键词： 标定装置；运动学标定；现场标定；绝对定位精度    

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Remote calibration system for frequency based on in-place benchmark

Xiaobin HONG, Guixiong LIU, Zhuokui WU, Xipeng DU,

《机械工程前沿（英文）》 2010年 第5卷 第3期   页码 316-321 doi: 10.1007/s11465-010-0021-1

摘要： According to the deficiencies of remote calibration mode based on material object reference, a new model of a remote calibration system for frequency based on in-place benchmark is introduced, which is made of a calibration subsystem on the spot and a remote management subsystem. The key technology of some key problems for the remote calibration system is particularly discussed, including the time and frequency benchmark receiving module based on global positioning system (GPS), frequency comparison based on a phase method, frequency division based on dual high-frequency phase locked loop (PLL), and remote calibration based on the web. The results show that the system possesses some characteristics, such as high precision, good versatility, and no limitation of time and place.

关键词： remote calibration     in-place benchmark     frequency comparison     global position system (GPS)    

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Processing parameter optimization of fiber laser beam welding using an ensemble of metamodels and MOABC

《机械工程前沿（英文）》 2022年 第17卷 第4期 doi: 10.1007/s11465-022-0703-5

摘要： In fiber laser beam welding (LBW), the selection of optimal processing parameters is challenging and plays a key role in improving the bead geometry and welding quality. This study proposes a multi-objective optimization framework by combining an ensemble of metamodels (EMs) with the multi-objective artificial bee colony algorithm (MOABC) to identify the optimal welding parameters. An inverse proportional weighting method that considers the leave-one-out prediction error is presented to construct EM, which incorporates the competitive strengths of three metamodels. EM constructs the correlation between processing parameters (laser power, welding speed, and distance defocus) and bead geometries (bead width, depth of penetration, neck width, and neck depth) with average errors of 10.95%, 7.04%, 7.63%, and 8.62%, respectively. On the basis of EM, MOABC is employed to approximate the Pareto front, and verification experiments show that the relative errors are less than 14.67%. Furthermore, the main effect and the interaction effect of processing parameters on bead geometries are studied. Results demonstrate that the proposed EM-MOABC is effective in guiding actual fiber LBW applications.

关键词： laser beam welding     parameter optimization     metamodel     multi-objective    

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Ultrasound-guided prostate percutaneous intervention robot system and calibration by informative particle

《机械工程前沿（英文）》 2022年 第17卷 第1期   页码 3-3 doi: 10.1007/s11465-021-0659-x

摘要： Applying a robot system in ultrasound-guided percutaneous intervention is an effective approach for prostate cancer diagnosis and treatment. The limited space for robot manipulation restricts structure volume and motion. In this paper, an 8-degree-of-freedom robot system is proposed for ultrasound probe manipulation, needle positioning, and needle insertion. A novel parallel structure is employed in the robot system for space saving, structural rigidity, and collision avoidance. The particle swarm optimization method based on informative value is proposed for kinematic parameter identification to calibrate the parallel structure accurately. The method identifies parameters in the modified kinematic model stepwise according to parameter discernibility. Verification experiments prove that the robot system can realize motions needed in targeting. By applying the calibration method, a reasonable, reliable forward kinematic model is built, and the average errors can be limited to 0.963 and 1.846 mm for insertion point and target point, respectively.

关键词： ultrasound image guidance     prostate percutaneous intervention     parallel robot     kinematics identification     particle swarm optimization     informative value    

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Edge detection of steel plates at high temperature using image measurement

Qiong Zhou, Qi An

《机械工程前沿（英文）》 2009年 第4卷 第1期   页码 77-82 doi: 10.1007/s11465-009-0013-1

摘要： An edge detection method for the measurement of steel plate’s thermal expansion is proposed in this paper, where the shrinkage of a steel plate is measured when temperature drops. First, images are picked up by an imaging system; a method of regional edge detection based on grayscales’ sudden change is then applied to detect the edges of the steel plate; finally, pixel coordinates of the edge position are transformed to physical coordinates through calibration parameters. The experiment shows that the real-time, high precision, and non-contact measurement of the steel plate’s edge position under high temperature can be realized using the imaging measurement method established in this paper.

关键词： thermal expansion     image measurement     edge detection     image calibration    

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Determination of effective stress parameter of unsaturated soils: A Gaussian process regression approach

Pijush Samui, Jagan J

《结构与土木工程前沿（英文）》 2013年 第7卷 第2期   页码 133-136 doi: 10.1007/s11709-013-0202-1

摘要： This article examines the capability of Gaussian process regression (GPR) for prediction of effective stress parameter ( ) of unsaturated soil. GPR method proceeds by parameterising a covariance function, and then infers the parameters given the data set. Input variables of GPR are net confining pressure ( ), saturated volumetric water content ( ), residual water content ( ), bubbling pressure ( ), suction ( ) and fitting parameter ( ). A comparative study has been carried out between the developed GPR and Artificial Neural Network (ANN) models. A sensitivity analysis has been done to determine the effect of each input parameter on . The developed GPR gives the variance of predicted . The results show that the developed GPR is reliable model for prediction of of unsaturated soil.

关键词： unsaturated soil     effective stress parameter     Gaussian process regression (GPR)     artificial neural network (ANN)     variance    

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1000 MW ultra-supercritical turbine steam parameter optimization

FENG Weizhong

《能源前沿（英文）》 2008年 第2卷 第2期   页码 187-193 doi: 10.1007/s11708-008-0030-5

摘要： The 2 × 1000 MW ultra-supercritical steam turbine of Shanghai Waigaoqiao Phase III project, which uses grid frequency regulation and overload control through an overload valve, is manufactured by Shanghai Turbine Company using Siemens technology. Through optimization, the steam pressure is regarded as the criterion between constant pressure and sliding pressure operation. At high circulating water temperature, the turbine overload valve is kept closed when the unit load is lower than 1000 MW while at other circulating water temperatures the turbine can run in sliding pressure operation when the unit load is higher than 1000 MW and the pressure is lower than 27 MPa This increases the unit operation efficiency. The 3D bending technology in the critical piping helps to reduce the project investment and minimize the reheat system pressure drop which improves the unit operation efficiency and safety. By choosing lower circulating water design temperature and by setting the individual Boiler Feedwater Turbine condenser to reduce the exhaust steam flow and the heat load to the main condenser, the unit average back pressure and the terminal temperature difference are minimized. Therefore, the unit heat efficiency is increased.
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Design and calibration of a new high-definition three-dimensional laparoscopic system

Jia TANG,Li-qiang WANG,Bo YUAN,Hong JIANG,Qi-ming ZHU

《信息与电子工程前沿（英文）》 2015年 第16卷 第1期   页码 79-84 doi: 10.1631/FITEE.1400149

摘要： We present a high-definition (HD) 3D laparoscopic system including a dual channel optical system, two cameras, a camera control unit (CCU), and an HD 3D monitor. This laparoscopic system is capable of outputting dual high-definition videos and providing vivid 3D images. A modified pinhole camera model is used for camera calibration and a new method of depth measurement to improve precision. The average error of depth measurement measured by experiment (about 1.13 mm) was small in proportion to the large range in distance of the system (10-150 mm). The new method is applicable to any calibrated binocular vision system.

关键词： Dual optical channels     Three dimensional     Camera calibration     Pinhole model     Depth measurement     Laparoscopic system    

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Structural parameter design method for a fast-steering mirror based on a closed-loop bandwidth

Guozhen CHEN, Pinkuan LIU, Han DING

《机械工程前沿（英文）》 2020年 第15卷 第1期   页码 55-65 doi: 10.1007/s11465-019-0545-y

摘要： When a fast-steering mirror (FSM) system is designed, satisfying the performance requirements before fabrication and assembly is vital. This study proposes a structural parameter design approach for an FSM system based on the quantitative analysis of the required closed-loop bandwidth. First, the open-loop transfer function of the FSM system is derived. In accordance with the transfer function, the notch filter and proportional-integral (PI) feedback controller are designed as a closed-loop controller. The gains of the PI controller are determined by maximizing the closed-loop bandwidth while ensuring the robustness of the system. Then, the two unknown variables of rotational radius and stiffness in the open-loop transfer function are optimized, considering the bandwidth as a constraint condition. Finally, the structural parameters of the stage are determined on the basis of the optimized results of rotational radius and stiffness. Simulations are conducted to verify the theoretical analysis. A prototype of the FSM system is fabricated, and corresponding experimental tests are conducted. Experimental results indicate that the bandwidth of the proposed FSM system is 117.6 Hz, which satisfies the minimum bandwidth requirement of 100 Hz.

关键词： fast-steering mirror     structural parameter     PI controller     bandwidth     notch filter    

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Energy efficient cutting parameter optimization

Xingzheng CHEN, Congbo LI, Ying TANG, Li LI, Hongcheng LI

《机械工程前沿（英文）》 2021年 第16卷 第2期   页码 221-248 doi: 10.1007/s11465-020-0627-x

摘要： Mechanical manufacturing industry consumes substantial energy with low energy efficiency. Increasing pressures from energy price and environmental directive force mechanical manufacturing industries to implement energy efficient technologies for reducing energy consumption and improving energy efficiency of their machining processes. In a practical machining process, cutting parameters are vital variables set by manufacturers in accordance with machining requirements of workpiece and machining condition. Proper selection of cutting parameters with energy consideration can effectively reduce energy consumption and improve energy efficiency of the machining process. Over the past 10 years, many researchers have been engaged in energy efficient cutting parameter optimization, and a large amount of literature have been published. This paper conducts a comprehensive literature review of current studies on energy efficient cutting parameter optimization to fully understand the recent advances in this research area. The energy consumption characteristics of machining process are analyzed by decomposing total energy consumption into electrical energy consumption of machine tool and embodied energy of cutting tool and cutting fluid. Current studies on energy efficient cutting parameter optimization by using experimental design method and energy models are reviewed in a comprehensive manner. Combined with the current status, future research directions of energy efficient cutting parameter optimization are presented.

关键词： energy efficiency     cutting parameter     optimization     machining process    

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Hierarchical parameter estimation of DFIG and drive train system in a wind turbine generator

Xueping PAN, Ping JU, Feng WU, Yuqing JIN

《机械工程前沿（英文）》 2017年 第12卷 第3期   页码 367-376 doi: 10.1007/s11465-017-0429-y

摘要：

A new hierarchical parameter estimation method for doubly fed induction generator (DFIG) and drive train system in a wind turbine generator (WTG) is proposed in this paper. Firstly, the parameters of the DFIG and the drive train are estimated locally under different types of disturbances. Secondly, a coordination estimation method is further applied to identify the parameters of the DFIG and the drive train simultaneously with the purpose of attaining the global optimal estimation results. The main benefit of the proposed scheme is the improved estimation accuracy. Estimation results confirm the applicability of the proposed estimation technique.

关键词： wind turbine generator     DFIG     drive train system     hierarchical parameter estimation method     trajectory sensitivity technique    

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标题 作者 时间 类型 操作

Numerical simulation and experimental research on the wheel brush sampling process of an asteroid sampler

期刊论文

A “Sequential Design of Simulations” approach for exploiting and calibrating discrete element simulations of cohesive powders

期刊论文

Development of a novel hand−eye calibration for intuitive control of minimally invasive surgical robot

期刊论文

新安江模型参数有效优化及不确定性评估

王文川,程春田,邱林,杨斌斌

期刊论文

一种机械臂在线标定装置开发

万梓威1,2,周春琳1,3,张昊天4,吴俊1

期刊论文

Remote calibration system for frequency based on in-place benchmark

Xiaobin HONG, Guixiong LIU, Zhuokui WU, Xipeng DU,

期刊论文

Processing parameter optimization of fiber laser beam welding using an ensemble of metamodels and MOABC

期刊论文

Ultrasound-guided prostate percutaneous intervention robot system and calibration by informative particle

期刊论文

Edge detection of steel plates at high temperature using image measurement

Qiong Zhou, Qi An

期刊论文

Determination of effective stress parameter of unsaturated soils: A Gaussian process regression approach

Pijush Samui, Jagan J

期刊论文

1000 MW ultra-supercritical turbine steam parameter optimization

FENG Weizhong

期刊论文

Design and calibration of a new high-definition three-dimensional laparoscopic system

Jia TANG,Li-qiang WANG,Bo YUAN,Hong JIANG,Qi-ming ZHU

期刊论文

Structural parameter design method for a fast-steering mirror based on a closed-loop bandwidth

Guozhen CHEN, Pinkuan LIU, Han DING

期刊论文

Energy efficient cutting parameter optimization

Xingzheng CHEN, Congbo LI, Ying TANG, Li LI, Hongcheng LI

期刊论文

Hierarchical parameter estimation of DFIG and drive train system in a wind turbine generator

Xueping PAN, Ping JU, Feng WU, Yuqing JIN

期刊论文