Kalman filter of the force signal of identifying weld seam in remote teaching

For reasons of the vibration of robot, the rough surface of weld seam and electromagnetic disturbance of welding machine, the force signals of identifying weld seam become unstable. The position error of remote teaching point is too big to meet teaching requirements in remote welding. The force signals of identifying weld seam can be filtered by Kalman. The force signals of identifying weld seam of next teaching point is accurately predicted according to predicting algorithms, such as the equation of the state, the equation of the observation, the gain matrix of the filter and the covariance matrix of predicting state. The experimental results show that the precision of identifying weld seam is improved by Kalman.filter.

Optimization of Crosswalk Width Based on Bi-Directional Pedestrian Crossing Time at Signalized Intersections

The effects of the interactions between bi-directional pedestrians on the crossing time and the crosswalk width are studied. Firstly,the crossing process of bi-directional pedestrians is analyzed.The total crosswalk time is divided into a discharge time and a crossing time. The interactions between bi-directional pedestrians are quantified with the drag force theory. Then,a model is developed to study the crossing time based on the kinetic energy theory and momentum theory. Subsequently,the related parameters of the proposed model are calibrated with observed information. The relationships among crosswalk width,signal time,pedestrian volume and level of service are simulated with the proposed model. The results are verified and compared with other models. The proposed model has an absolute value of relative error of 9. 38%,which is smaller than that of the Alhajyaseen model（ 15. 26%） and Highway Capacity Manual（ HCM） model（ 12. 42%）. Finally,suggested crosswalk widths at different conditions are successfully estimated with the proposed crossing time model.