Direct calculation of acceleration field through homogeneous transformation for two-axis centrifuge

A precision centrifuge is an inertial navigation test equipment used for calibrating the characteristics of accelerometers with high overloading, and a two axis centrifuge can be used to generate either constant acceleration or harmonic acceleration. The moving trajectory equation about the origin of the accelerometer coordinate system in a two axis centrifuge was directly deduced through homogeneous transformation. The acceleration vector of the origin in accelerometer coordinate system was achieved by making the second derivative of this trajectory equation. The acceleration components were acquired by decomposing this acceleration vector along the three axes of the accelerometer coordinate system. The correctness of the homogeneous transformation was verified through vector analysis.

Scattering by circular cavity in radially inhomogeneous medium with wave velocity variation

Based on the theory of complex function and the principle of homogenization, harmonic dynamics stress of a radially infinite inhomogeneous medium with a circular cavity is investigated. Due to the symmetry, wave velocity is assumed to have power-law variation in the radial direction only, and the shear modulus is constant. The Helmholtz equation with a variable coefficient is equivalently transformed into a standard Helmholtz equation with a general conformal transformation method（GCTM）. The displacements and stress fields are proposed. Numerical results show that the wave number and the inhomogeneity parameter of the medium have significant effects on the dynamic stress concentration around the circular cavity. The dynamic stress concentration factor（DSCF） becomes singular when the inhomogeneity parameter of medium is close to zero.

Effect of solution treatment on the martensitic transformation behavior of a Ni_(43)Co_7Mn_(39)Sn_(11) polycrystalline alloy

The effect of solution treatment on the martensitic transformation behavior of a Ni43Co7Mn39Sn11 polycrystalline alloy fabricated by an arc melting method was investigated by scanning electron microscopy（SEM）, energy-dispersive X-ray spectroscopy（EDS）, and differential scanning calorimetry（DSC）. The examination indicates the presence of severe chemical segregation in the dendritic as-cast structure because of solidification. This chemical segregation completely impedes the intrinsic martensitic transformation. Annealing at 1223 K for 24 h is identified as the threshold annealing condition to eliminate the microstructural segregation and begin the martensitic transformation, as indicated by a broad and obscure feature. Annealing at 1273 K for 24–48 h is found to be effective at promoting notably the martensitic transformation, but the martensitic transformation exhibits a multiple-step feature. Complete homogeneity is achieved by annealing at 1273 K for 72 h, which produces a sharp, single-step martensitic transformation. The microstructural evolution and the valence electron concentrations of alloys（e/a ratio） are evaluated, which are reflective of the degree of compositional homogeneity of alloys, confirming that high annealing temperature and long holding time are vital to reveal the intrinsic martensitic behavior of this alloy. The adequately homogenized alloy displays a martensitic transformation at 292 K and an enthalpy of 11.2 J/g.

Two algorithms of working acceleration generated by a precision centrifuge with two rotating axes

The displacement of the origin of the accelerometer coordinate system relative to the origin of the base coordinate system is calculated by homogeneous transformation. The second order derivative of this displacement is the acceleration of the origin to the accelerometer coordinate system. By means of the attitude relationship between the base coordinate system and the accelerometer coordinate system, the acceleration components on the three coordinate axes is obtained. Utilizing the Coriolis rotation coordinate theorem, the three components are also calculated. The homogeneous transtbrmation method and vector differential method lead to identical results.

Axis intersection measurement of three-axis turntable with two crosshair targets

In order to measure three-axis intersection error, two crosshair targets were fixed in the inner axis frame of a three-axis turntable. Also a theodolite was used to point its telescope to the targets and to measure the horizontal angles when three axes were on equi-spaced angle positions. The calculation equations of the axis intersection were deduced from the mounting position of the theodolite, positions of two targets, angular positions of three axes, and the measured horizontal angles with the theodolite. Finally, a practical measurement is carried out on a horizontal three-axis turntable and error analysis is conducted.

Hand-eye calibration with a new linear decomposition algorithm

To solve the homogeneous transformation equation of the form AX=XB in hand-eye calibration, where X represents an unknown transformation from the camera to the robot hand, and A and B denote the known movement transformations associated with the robot hand and the camera, respectively, this paper introduces a new linear decomposition algorithm which consists of singular value decomposition followed by the estimation of the optimal rotation matrix and the least squares equation to solve the rotation matrix of X. Without the requirements of traditional methods that A and B be rigid transformations with the same rotation angle, it enables the extension to non-rigid transformations for A and B. The details of our method are given, together with a short discussion of experimental results, showing that more precision and robustness can be achieved.

Error Analysis of Assembly Linkage of Transport Jig for Large Aircraft Parts

Aiming at the assembly accuracy of a large aircraft transport jig, the effect of component error and the error of work-piece surface on the work-piece position and orientation in the 3-2-1 fixturing scheme is studied with the object pose space description method. The error mapping model between the connecting part of the front frame rack and its support base is modeled using the homogeneous transformation matrix(HTM) method. The probabilistic error is simulated using the Monte Carlo method. The measurement experiment was conducted by the laser tracker to verify the effectiveness of the approach, and the approach has been successfully applied to the production of transport jig.

DISTANCE MEASURING MODELING AND ERROR ANALYSIS OF DUALCCD VISION SYSTEM SIMULATING HUMAN EYES AND NECK

A dual-CCD simulating human eyes and neck (DSHEN) vision system is putforward. Its structure and principle are introduced. The DSREN vision system can perform somemovements simulating human eyes and neck by means of four rotating joints, and realize preciseobject recognizing and distance measuring in all orientations. The mathematic model of the DSHENvision system is built, and its movement equation is solved. The coordinate error and measureprecision affected by the movement parameters are analyzed by means of intersection measuringmethod. So a theoretic foundation for further research on automatic object recognizing and precisetarget tracking is provided.

Light pen whole space coordinate measuring system based on a tracking turntable

Light pen coordinate measuring system(LPCMS)is a kind of portable coordinate measuring technique based on vision metrology.In classical LPCMS,the measuring range is limited to the camera’s field of view.To overcome this defect,a new LPCMS is designed in this paper to fulfil whole space coordinate measurement.The camera is installed on a turntable instead of a tripod,so that the camera can rotate to track the movement of the light pen.The new system can be applied to large scale onsite measurement,and therefore it notably extends the application of LPCMS.To guarantee the accuracy of the new system,a method to calibrate the parameters of the tracking turntable is also proposed.Fixing the light pen at a stationary position,and changing the azimuth angles of the turntable’s two shafts,so that the camera can capture the images of the light pen from different view angles.According to the invariant spatial relationship between the camera and the pedestal of the tracking turntable,a system of nonlinear equations can be established to solve the parameters of the turntable.Experimental results show that the whole space coordinate measuring accuracy of the new system can reach 0.25 mm within 10 m.It can be concluded that the newly designed system can significantly expand the measuring range of LPCMS without losing too much accuracy.

Ruthenium-promoted reductive transformation of CO2

The reductive transformation of CO_2 to energy related products including formic acid, CO, formamide, methanol and methylamine could be a promising option to supply renewable energy. In this aspect, ruthenium has found wide application in hydrogenation of various carbonyl groups, and has successfully been applied to reductive transformation of CO_2 with high catalytic efficiency and excellent selectivity. In addition, ruthenium complexes have also served as effective photosensitizers for CO_2 photoreduction.Classified by reductive products, this review summarizes and updates advances in the Ru-catalyzed reduction of CO_2 along with catalyst development on the basis of mechanistic understanding at a molecular level.

Calibration method of quartz accelerometer on dynamic centrifuge

This paper proposes a novel method for calibrating error coefficients of the quartz accelerometer faster on the dynamic centrifuge,which can generate a continuous dynamic acceleration excitation.Firstly,working principle and structure of the dynamic centrifuge are analyzed,the error sources and the uncertainty of the dynamic centrifuge are expounded,and relevant coordinate systems are established.Then,according to the characteristics of the input specific forces and the propagating methods of the error sources,the accurate input specific forces acted on the input reference axes of accelerometer are obtained.Based on the calibration error model of the accelerometer,the corresponding dynamic calibration method is proposed.Finally,the second-order and high-order coefficients of the acceleration error model are calibrated,and the calibration precision of the coefficients is analyzed.Compared with traditional calibration methods,the method proposed in this paper not only greatly enhances the calibration efficiency by reducing the installing positions of the accelerometer,but also separates the centrifuge errors from the outputs of the accelerometer,which improves the accuracy and efficiency of the calibration method simultaneously.

Method for Workspace Calculation of 6R Serial Manipulator Based on Surface Enveloping and Overlaying

Aiming at the workspace calculation problem of multi-joint serial manipulators,a surface enveloping and overlaying (SEO) method is presented to identify and visualize the manipulator workspace.The SEO method is composed of two stages:the first stage is to choose reference points of the manipulator and calculate their boundary surfaces using the nth enveloping method;the second stage is to overlay these boundary surfaces to identify the final workspace.The SEO method is basically a combination of the analytic method and the numerical method.By delineating the graphic representation of the workspace step by step,the SEO method is easy to analyze the existence and the shape of voids and holes.The basic theory of the SEO method and formulas for workspace calculation are presented based on a 6R serial manipulator.By showing the workspace calculation results,the SEO method is proved working correctly.

Application of Novel Rotation Angular Model for 3D Mouse System Based on MEMS Accelerometers

A new scheme is proposed to model 3D angular motion of a revolving regular object with miniature, low-cost micro electro mechanical systems(MEMS) accelerometers(instead of gyroscope),which is employed in 3D mouse system.To sense 3D angular motion,the static property of MEMS accelerometer,sensitive to gravity acceleration,is exploited.With the three outputs of configured accelerometers,the proposed model is implemented to get the rotary motion of the rigid object.In order to validate the effectiveness of the proposed model,an input device is developed with the configuration of the scheme.Experimental results show that a simulated 3D cube can accurately track the rotation of the input device.The result indicates the feasibility and effectiveness of the proposed model in the 3D mouse system.

Systematic Geometric Error Modeling for Workspace Volumetric Calibration of a 5-axis Turbine Blade Grinding Machine

A systematic geometric model has been presented for calibration of a newly designed 5-axis turbine blade grinding machine. This machine is designed to serve a specific purpose to attain high accuracy and high efficiency grinding of turbine blades by eliminating the hand grinding process. Although its topology is RPPPR （P： prismatic; R： rotary）, its design is quite distinct from the competitive machine tools. As error quantification is the only way to investigate, maintain and improve its accuracy, calibra- tion is recommended for its performance assessment and acceptance testing. Systematic geometric error modeling technique is implemented and 52 position dependent and position independent errors are identified while considering the machine as five rigid bodies by eliminating the set-up errors of workpiece and cutting tool. 39 of them are found to have influential errors and are accommodated for finding the resultant effect between the cutting tool and the workpiece in workspace volume. Rigid body kinematics techniques and homogenous transformation matrices are used for error synthesis.

Fe_3O_4 nano-whiskers by ultrasonic-aided reduction in concentrated NaOH solution

Fe3O4 nano-whiskers were synthesized via ultrasonic-aided reduction of FeCl2.4H2O with N2H4-H2O in concentrated NaOH solution. Phase identification and morphology observation were conducted by X-ray diffraction （XRD） analysis, transmission electron microscopy （TEM） and field emission scanning electron microscopy （FE-SEM）. Face scanning energy dispersive spectrum （face scanning EDS） and twodimensional fast Fourier transform （2DFFF） for element distribution were carried out for confirming composition homogeneity. From XRD and TEIVI, the synthesized Fe304 nano-whiskers are of cubic phase with average dimension of 20 nm~ 200 nm （average aspect ratio of 10）. FE-SEM shows that the nanowhiskers without dispersion are interconnected into a network at a scale of 20μm. 2DFFT of the distribution of Fe and O from face scanning EDS confirms the composition homogeneity of the synthesized Fe3O4. Hydrazine hydrate determines the formation of the nano-whiskers, while the possible mechanism is the preferred growth along certain orientation with the aid of ultrasonic treatment.