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Ascertaining the influences of auxiliary qubits on the Einstein–Podolsky–Rosen steering and its directions
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作者 邢玲玲 杨欢 +1 位作者 张刚 孔敏 《Chinese Physics B》 SCIE EI CAS CSCD 2024年第5期213-221,共9页
Einstein–Podolsky–Rosen(EPR) steering is an example of nontrivial quantum nonlocality and characteristic in the non-classical world.The directivity(or asymmetry) is a fascinating trait of EPR steering,and it is diff... Einstein–Podolsky–Rosen(EPR) steering is an example of nontrivial quantum nonlocality and characteristic in the non-classical world.The directivity(or asymmetry) is a fascinating trait of EPR steering,and it is different from other quantum nonlocalities.Here,we consider the strategy in which two atoms compose a two-qubit X state,and the two atoms are owned by Alice and Bob,respectively.The atom of Alice suffers from a reservoir,and the atom of Bob couples with a bit flip channel.The influences of auxiliary qubits on EPR steering and its directions are revealed by means of the entropy uncertainty relation.The results indicate that EPR steering declines with growing time t when adding fewer auxiliary qubits.The EPR steering behaves as damped oscillation when introducing more auxiliary qubits in the strong coupling regime.In the weak coupling regime,the EPR steering monotonously decreases as t increases when coupling auxiliary qubits.The increases in auxiliary qubits are responsible for the fact that the steerability from Alice to Bob(or from Bob to Alice) can be more effectively revealed.Notably,the introductions of more auxiliary qubits can change the situation that steerability from Alice to Bob is certain to a situation in which steerability from Bob to Alice is certain. 展开更多
关键词 auxiliary qubits EPR steering DIRECTIONS influence
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Enhancing quantum temporal steering via frequency modulation
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作者 吴孟凯 程维文 《Chinese Physics B》 SCIE EI CAS CSCD 2024年第5期239-245,共7页
Various strategies have been proposed to harness and protect space-like quantum correlations in different models under decoherence.However,little attention has been given to temporal-like correlations,such as quantum ... Various strategies have been proposed to harness and protect space-like quantum correlations in different models under decoherence.However,little attention has been given to temporal-like correlations,such as quantum temporal steering(TS),in this context.In this work,we investigate TS in a frequency-modulated two-level system coupled to a zero-temperature reservoir in both the weak and strong coupling regimes.We analyze the impact of various frequency-modulated parameters on the behavior of TS and non-Markovian.The results demonstrate that appropriate frequency-modulated parameters can enhance the TS of the two-level system,regardless of whether the system is experiencing Markovian or non-Markovian dynamics.Furthermore,a suitable ratio between modulation strength and frequency(i.e.,all zeroes of the 0th Bessel function J_(0)(δ/?))can significantly enhance TS in the strong coupling regime.These findings indicate that efficient and effective manipulation of quantum TS can be achieved through a frequency-modulated approach. 展开更多
关键词 quantum temporal steering frequency modulation DECOHERENCE
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A nonlinear wake model of a wind turbine considering the yaw wake steering
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作者 Yunzhou LI Zhiteng GAO +2 位作者 Shoutu LI Suiping QI Xiaoyu TANG 《Journal of Oceanology and Limnology》 SCIE CAS CSCD 2024年第3期715-727,共13页
Duo to fluctuations in atmospheric turbulence and yaw control strategies,wind turbines are often in a yaw state.To predict the far wake velocity field of wind turbines quickly and accurately,a wake velocity model was ... Duo to fluctuations in atmospheric turbulence and yaw control strategies,wind turbines are often in a yaw state.To predict the far wake velocity field of wind turbines quickly and accurately,a wake velocity model was derived based on the method of momentum conservation considering the wake steering of the wind turbine under yaw conditions.To consider the shear effect of the vertical incoming wind direction,a two-dimensional Gaussian distribution function was introduced to model the velocity loss at different axial positions in the far wake region based on the assumption of nonlinear wake expansion.This work also developed a“prediction-correction”method to solve the wake velocity field,and the accuracy of the model results was verified in wake experiments on the Garrad Hassan wind turbine.Moreover,a 33-kW two-blade horizontal axis wind turbine was simulated using this method,and the results were compared with the classical wake model under the same parameters and the computational fluid dynamics(CFD)simulation results.The results show that the nonlinear wake model well reflected the influence of incoming flow shear and yaw wake steering in the wake velocity field.Finally,computation of the wake flow for the Horns Rev offshore wind farm with 80 wind turbines showed an error within 8%compared to the experimental values.The established wake model is less computationally intensive than other methods,has a faster calculation speed,and can be used for engineering calculations of the wake velocity in the far wakefield of wind turbines. 展开更多
关键词 far wake wake model wake steering wind shear wind farm
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Einstein-Podolsky-Rosen Steering and Nonlocality in Open Quantum Systems
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作者 Abdelaziz Sabik 《Journal of Modern Physics》 2024年第4期462-473,共12页
We investigate the dynamical behavior of quantum steering (QS), Bell nonlocality, and entanglement in open quantum systems. We focus on a two-qubit system evolving within the framework of Kossakowski-type quantum dyna... We investigate the dynamical behavior of quantum steering (QS), Bell nonlocality, and entanglement in open quantum systems. We focus on a two-qubit system evolving within the framework of Kossakowski-type quantum dynamical semigroups. Our findings reveal that the measures of quantumness for the asymptotic states rely on the primary parameter of the quantum model. Furthermore, control over these measures can be achieved through a careful selection of these parameters. Our analysis encompasses various cases, including Bell states, Werner states, and Horodecki states, demonstrating that the asymptotic states can exhibit steering, entanglement, and Bell nonlocality. Additionally, we find that these three quantum measures of correlations can withstand the influence of the environment, maintaining their properties even over extended periods. 展开更多
关键词 Quantum steering Dynamical Semigroups Bell Nonlocality Open Quantum System Asymptotic Dynamics Entanglement
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Analysis on steering characteristics of crawler pipeline robot
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作者 耿林康 RAO Jinjun LEI Jingtao 《High Technology Letters》 EI CAS 2023年第1期60-67,共8页
In order to improve the elbow passing performance and different diameter adaptability of pipeline robot,a supported crawler pipeline robot is designed,which adopts screw nut mechanism and hinge four-bar mechanism to a... In order to improve the elbow passing performance and different diameter adaptability of pipeline robot,a supported crawler pipeline robot is designed,which adopts screw nut mechanism and hinge four-bar mechanism to adapt to the complex environment such as variable diameter pipeline and elbow.The steering characteristics passing through the elbow are studied,the kinematic of pipeline robot bending steering is established,the geometric constraint(GC)and steering constraint(SC)in the elbow are analyzed,and the steering experiment is conducted.The results show that the robot can pass through the elbow by the SC model.The SC model can reduce the motor current and energy consumption when the robot passes through the elbow. 展开更多
关键词 crawler pipeline robot steering characteristics geometric constraint(GC) steering constraint(SC)
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Visualizing and witnessing first-order coherence,Bell nonlocality and purity by using a quantum steering ellipsoid in the non-inertial frame
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作者 杨欢 邢玲玲 +3 位作者 杜明明 孔敏 张刚 叶柳 《Chinese Physics B》 SCIE EI CAS CSCD 2023年第10期210-218,共9页
A quantum steering ellipsoid(QSE)is a visual characterization for bipartite qubit systems,and it is also a novel avenue for describing and detecting quantum correlations.Herein,by using a QSE,we visualize and witness ... A quantum steering ellipsoid(QSE)is a visual characterization for bipartite qubit systems,and it is also a novel avenue for describing and detecting quantum correlations.Herein,by using a QSE,we visualize and witness the first-order coherence(FOC),Bell nonlocality(BN)and purity under non-inertial frames.Also,the collective influences of the depolarizing channel and the non-coherence-generating channel(NCGC)on the FOC,BN and purity are investigated in the QSE formalism.The results reveal that the distance from the center of the QSE to the center of the Bloch sphere visualizes the FOC of a bipartite system,the lengths of the QSE semiaxis visualize the BN,and the QSE's shape and position dominate the purity of the system.One can capture the FOC,BN and purity via the shape and position of the QSE in the non-inertial frame.The depolarizing channel(the NCGC)gives rise to the shrinking and degradation(the periodical oscillation)of the QSE.One can use these traits to visually characterize and detect the FOC,BN and purity under the influence of external noise.Of particular note is that the condition for the QSE to achieve the center of the Bloch sphere cannot be influenced by the depolarizing channel and the NCGC.The characterization shows that the conditions for the disappearance of the FOC are invariant under the additional influences of the depolarizing channel and NCGC. 展开更多
关键词 quantum steering ellipsoid first-order coherence Bell-nonlocality PURITY
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Controlling stationary one-way steering in a three-level atomic ensemble
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作者 彭洁 徐俊 +1 位作者 刘华忠 赖章丽 《Chinese Physics B》 SCIE EI CAS CSCD 2023年第12期249-255,共7页
We propose a scheme for establishing the stationary one-way quantum steering in a three-level Λ-type atomic ensemble. In our system, the cavity modes are generated from two atomic dipole-allowed transitions, which ar... We propose a scheme for establishing the stationary one-way quantum steering in a three-level Λ-type atomic ensemble. In our system, the cavity modes are generated from two atomic dipole-allowed transitions, which are in turn driven by two external classical fields. The atomic ensemble can act as an engineered reservoir to put two cavity modes into a squeezed state by two Bogoliubov dissipation pathways. When the damping rates of the two cavity modes are different,the steady-state one-way quantum steering of the intracavity and output fields is presented by adjusting the normalized detuning. The physical mechanism is analyzed based on a dressed state representation and Bogoliubov mode transformation.The achieved optical one-way quantum steering scheme has potential applications in quantum secret information sharing protocols. 展开更多
关键词 one-way quantum steering ENTANGLEMENT quantum correlation reservoir-engineered method
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Hierarchical CNNPID Based Active Steering Control Method for Intelligent Vehicle Facing Emergency Lane-Changing
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作者 Wensa Wang Jun Liang +1 位作者 Chaofeng Pan Long Chen 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2023年第4期355-371,共17页
To resolve the response delay and overshoot problems of intelligent vehicles facing emergency lane-changing due to proportional-integral-differential(PID)parameter variation,an active steering control method based on ... To resolve the response delay and overshoot problems of intelligent vehicles facing emergency lane-changing due to proportional-integral-differential(PID)parameter variation,an active steering control method based on Convolutional Neural Network and PID(CNNPID)algorithm is constructed.First,a steering control model based on normal distribution probability function,steady constant radius steering,and instantaneous lane-change-based active for straight and curved roads is established.Second,based on the active steering control model,a three-dimensional constraint-based fifth-order polynomial equation lane-change path is designed to address the stability problem with supersaturation and sideslip due to emergency lane changing.In addition,a hierarchical CNNPID Controller is constructed which includes two layers to avoid collisions facing emergency lane changing,namely,the lane change path tracking PID control layer and the CNN control performance optimization layer.The scaled conjugate gradient backpropagation-based forward propagation control law is designed to optimize the PID control performance based on input parameters,and the elastic backpropagation-based module is adopted for weight correction.Finally,comparison studies and simulation/real vehicle test results are presented to demonstrate the effectiveness,significance,and advantages of the proposed controller. 展开更多
关键词 Intelligent vehicle Rear-end collision avoidance steering control Dynamics model Neural Network PID control
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Genuine Einstein-Podolsky-Rosen steering of generalized three-qubit states via unsharp measurements
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作者 陈玉玉 郭奋卓 +1 位作者 魏士慧 温巧燕 《Chinese Physics B》 SCIE EI CAS CSCD 2023年第4期215-225,共11页
We aim to explore all possible scenarios of(1→2)(where one wing is untrusted and the others two wings are trusted)and(2→1)(where two wings are untrusted,and one wing is trusted)genuine tripartite Einstein-Podolsky-R... We aim to explore all possible scenarios of(1→2)(where one wing is untrusted and the others two wings are trusted)and(2→1)(where two wings are untrusted,and one wing is trusted)genuine tripartite Einstein-Podolsky-Rosen(EPR)steering.The generalized Greenberger-Horne-Zeilinger(GHZ)state is shared between three spatially separated parties,Alice,Bob and Charlie.In both(1→2)and(2→1),we discuss the untrusted party and trusted party performing a sequence of unsharp measurements,respectively.For each scenario,we deduce an upper bound on the number of sequential observers who can demonstrate genuine EPR steering through the quantum violation of tripartite steering inequality.The results show that the maximum number of observers for the generalized GHZ states can be the same with that of the maximally GHZ state in a certain range of state parameters.Moreover,both the sharpness parameters range and the state parameters range in the scenario of(1→2)steering are larger than those in the scenario of(2→1)steering. 展开更多
关键词 quantum information quantum steering generalized Greenberger-Horne-Zeilinger(GHZ)state
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Improved Beam Steering Method Using OAM Waves
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作者 Nidal Qasem Ahmad Alamayreh 《Computer Systems Science & Engineering》 SCIE EI 2023年第7期417-431,共15页
Orbital Angular Momentum(OAM)is an intrinsic feature of electromagnetic waves which has recently found many applications in several areas in radio and optics.In this paper,we use OAM wave characteristics to present a ... Orbital Angular Momentum(OAM)is an intrinsic feature of electromagnetic waves which has recently found many applications in several areas in radio and optics.In this paper,we use OAM wave characteristics to present a simple method for beam steering over both elevation and azimuth planes.The design overcomes some limitations of traditional steering methods,such as limited dynamic range of steering,the design complexity,bulky size of the steering structure,the limited bandwidth of operation,and low gain.Based on OAM wave characteristics,the proposed steering method avoids design complexities by adopting a simple method for generating the OAM-carrying waves.The waves are generated by an array of Planar Circular Dipole(PCD)elements.These elements are designed to cover a wide bandwidth range between 3 and 30 GHz.The transmitting array shows an enhanced gain value from 8.5 dBi to almost 11.5 dBi at the broadside angle.Besides the enhanced PCD-based OAM generation,the novelty of the design lies in a new method of beam steering.Beam steering is then performed by controlling the electrical feeding of the PCD elements;the beam azimuthal location is managed by turning off some of the PCD elements,while the elevation is determined by changing the gradient phase of excitation for the turned-on PCD elements.Detailed analysis of the steering method is carried out by finding the mathematical model of the system and the generated waves.The performance has been verified through numerical simulators. 展开更多
关键词 Antenna array BANDWIDTH beam steering orbital angular momentum
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Cooperative game theory-based steering law design of a CMG system
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作者 HUA Bing NI Rui +2 位作者 ZHENG Mohong WU Yunhua CHEN Zhiming 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2023年第1期185-196,共12页
Spacecraft require a large-angle manoeuvre when performing agile manoeuvring tasks, therefore a control moment gyroscope(CMG) is employed to provide a strong moment.However, the control of the CMG system easily falls ... Spacecraft require a large-angle manoeuvre when performing agile manoeuvring tasks, therefore a control moment gyroscope(CMG) is employed to provide a strong moment.However, the control of the CMG system easily falls into singularity, which renders the actuator unable to output the required moment. To solve the singularity problem of CMGs, the control law design of a CMG system based on a cooperative game is proposed. First, the cooperative game model is constructed according to the quadratic programming problem, and the cooperative strategy is constructed. When the strategy falls into singularity, the weighting coefficient is introduced to carry out the strategy game to achieve the optimal strategy. In theory, it is proven that the cooperative game manipulation law of the CMG system converges, the sum of the CMG frame angular velocities is minimized, the energy consumption is small, and there is no output torque error. Then, the CMG group system is simulated.When the CMG system is near the singular point, it can quickly escape the singularity. When the CMG system falls into the singularity, it can also escape the singularity. Considering the optimization of angular momentum and energy consumption, the feasibility of the CMG system steering law based on a cooperative game is proven. 展开更多
关键词 control moment gyroscopes(CMG) cooperative game theory steering laws
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A 1-bit electronically reconfigurable beam steerable metasurface reflectarray with multiple polarization manipulations
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作者 史琰 徐茜雅 +2 位作者 王少泽 魏文岳 武全伟 《Chinese Physics B》 SCIE EI CAS CSCD 2024年第1期384-394,共11页
A 1-bit electronically controlled metasurface reflectarray is presented to achieve beam steering with multiple polarization manipulations. A metsurface unit cell loaded by two PIN diodes is designed. By switching the ... A 1-bit electronically controlled metasurface reflectarray is presented to achieve beam steering with multiple polarization manipulations. A metsurface unit cell loaded by two PIN diodes is designed. By switching the two PIN diodes between ON and OFF states, the isotropic and anisotropic reflections can be flexibly achieved. For either the isotropic reflection or the anisotropic reflection, the two operation states achieve the reflection coefficients with approximately equal magnitude and 180°out of phase, thus giving rise to the isotropic/anisotropic 1-bit metasurface unit cells. With the 1-bit unit cells, a 12-by-12 metasurface reflectarray is optimally designed and fabricated. Under either y-or x-polarized incident wave illumination, the reflectarray can achieve the co-polarized and cross-polarized beam scanning, respectively, with the peak gains of 20.08 d Bi and 17.26 d Bi within the scan range of about ±50°. With the right-handed circular polarization(RHCP) excitation, the left-handed circular polarization(LHCP) radiation with the peak gain of 16.98 d Bic can be achieved within the scan range of ±50°. Good agreement between the experimental results and the simulation results are observed for 2D beam steering and polarization manipulation capabilities. 展开更多
关键词 electronically controlled metasurface reflectarray beam steering polarization manipulation
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Research on Feature Extraction Method for Low-Speed Reciprocating Bearings Based on Segmented Short Signal Modulation Signal Bispectrum Slicing
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作者 Hao Zhang 《Open Journal of Applied Sciences》 2023年第12期2306-2319,共14页
Bearing condition monitoring and fault diagnosis (CMFD) can investigate bearing faults in the early stages, preventing the subsequent impacts of machine bearing failures effectively. CMFD for low-speed, non-continuous... Bearing condition monitoring and fault diagnosis (CMFD) can investigate bearing faults in the early stages, preventing the subsequent impacts of machine bearing failures effectively. CMFD for low-speed, non-continuous operation bearings, such as yaw bearings and pitch bearings in wind turbines, and rotating support bearings in space launch towers, presents more challenges compared to continuous rolling bearings. Firstly, these bearings have very slow speeds, resulting in weak collected fault signals that are heavily masked by severe noise interference. Secondly, their limited rotational angles during operation lead to a restricted number of fault signals. Lastly, the interference from deceleration and direction-changing impact signals significantly affects fault impact signals. To address these challenges, this paper proposes a method for extracting fault features in low-speed reciprocating bearings based on short signal segmentation and modulation signal bispectrum (MSB) slicing. This method initially separates short signals corresponding to individual cycles from the vibration signals based on encoder signals. Subsequently, MSB analysis is performed on each short signal to generate MSB carrier-slice spectra. The optimal carrier frequency and its corresponding modulation signal slice spectrum are determined based on the carrier-slice spectra. Finally, the MSB modulation signal slice spectra of the short signal set are averaged to obtain the overall average feature of the sliced spectra. 展开更多
关键词 Fault Diagnosis The Modulation Signal Bispectrum Short Signal low-speed Reciprocating Bearings Slewing Bearing
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High-intensity spatial-mode steerable frequency up-converter toward on-chip integration
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作者 Haizhou Huang Huaixi Chen +7 位作者 Huagang Liu Zhi Zhang Xinkai Feng Jiaying Chen Hongchun Wu Jing Deng Wanguo Liang Wenxiong Lin 《Opto-Electronic Science》 2024年第4期12-20,共9页
Integrated photonic devices are essential for on-chip optical communication,optical-electronic systems,and quantum information sciences.To develop a high-fidelity interface between photonics in various frequency domai... Integrated photonic devices are essential for on-chip optical communication,optical-electronic systems,and quantum information sciences.To develop a high-fidelity interface between photonics in various frequency domains without disturbing their quantum properties,nonlinear frequency conversion,typically steered with the quadratic(χ2)process,should be considered.Furthermore,another degree of freedom in steering the spatial modes during theχ2 process,with unprecedent mode intensity is proposed here by modulating the lithium niobate(LN)waveguide-based inter-mode quasi-phasematching conditions with both temperature and wavelength parameters.Under high incident light intensities(25 and 27.8 dBm for the pump and the signal lights,respectively),mode conversion at the sum-frequency wavelength with sufficient high output power(−7–8 dBm)among the TM01,TM10,and TM00 modes is realized automatically with characterized broad temperature(ΔT≥8°C)and wavelength windows(Δλ≥1 nm),avoiding the previous efforts in carefully preparing the signal or pump modes.The results prove that high-intensity spatial modes can be prepared at arbitrary transparent wavelength of theχ2 media toward on-chip integration,which facilitates the development of chip-based communication and quantum information systems because spatial correlations can be applied to generate hyperentangled states and provide additional robustness in quantum error correction with the extended Hilbert space. 展开更多
关键词 integrated photonics LN waveguide sum-frequency generation spatial-mode steering on-chip integration
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A Novel Estimating Method for Steering Efficiency of the Driver with Electromyography Signals 被引量:5
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作者 LIU Yahui JI Xuewu +1 位作者 HAYAMA Ryouhei MIZUNO Takahiro 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2014年第3期460-467,共8页
The existing research of steering efficiency mainly focuses on the mechanism efficiency of steering system, aiming at designing and optimizing the mechanism of steering system. In the development of assist steering sy... The existing research of steering efficiency mainly focuses on the mechanism efficiency of steering system, aiming at designing and optimizing the mechanism of steering system. In the development of assist steering system especially the evaluation of its comfort, the steering efficiency of driver physiological output usually are not considered, because this physiological output is difficult to measure or to estimate, and the objective evaluation of steering comfort therefore cannot be conducted with movement efficiency perspective. In order to take a further step to the objective evaluation of steering comfort, an estimating method for the steering efficiency of the driver was developed based on the research of the relationship between the steering force and muscle activity. First, the steering forces in the steering wheel plane and the electromyography (EMG) signals of the primary muscles were measured. These primary muscles are the muscles in shoulder and upper ann which mainly produced the steering torque, and their functions in steering maneuver were identified previously. Next, based on the multiple regressions of the steering force and EMG signals, both the effective steering force and the total force capacity of driver in steering maneuver were calculated. Finally, the steering efficiency of driver was estimated by means of the estimated effective force and the total force capacity, which represented the information of driver physiological output of the primary muscles. This research develops a novel estimating method for driver steering efficiency of driver physiological output, including the estimation of both steering force and the force capacity of primary muscles with EMG signals, and will benefit to evaluate the steering comfort with an objective perspective. 展开更多
关键词 ELECTROMYOGRAPHY muscle activity steering efficiency ESTIMATING
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Evaluation Method on Steering for the Shape-shifting Robot in Different Configurations 被引量:4
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作者 CHANG Jian LI Bin +2 位作者 WANG Chong ZHENG Huaibing LI Zhiqiang 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2016年第1期21-32,共12页
The evaluation method on steering is based on qualitative manner in existence, which causes the result inaccurate and fuzziness. It reduces the efficiency of process execution. So the method by quantitative manner for... The evaluation method on steering is based on qualitative manner in existence, which causes the result inaccurate and fuzziness. It reduces the efficiency of process execution. So the method by quantitative manner for the shape-shifting robot in different configurations is proposed. Comparing to traditional evaluation method, the most important aspects which can influence the steering abilities of the robot in different configurations are researched in detail, including the energy, angular velocity, time and space. In order to improve the robustness of system, the ideal and slippage conditions are all considered by mathematical model. Comparing to the traditional weighting confirming method, the extent of robot steering method is proposed by the combination of subjective and objective weighting method. The subjective weighting method can show more preferences of the experts and is based on five-grade scale. The objective weighting method is based on information entropy to determine the factors. By the sensors fixed on the robot, the contract force between track grouser and ground, the intrinsic motion characteristics of robot are obtained and the experiment is done to prove the algorithm which is proposed as the robot in different common configurations. Through the method proposed in the article, fuzziness and inaccurate of the evaluation method has been solved, so the operators can choose the most suitable configuration of the robot to fulfil the different tasks more quickly and simply. 展开更多
关键词 shape-shifting robot steering MOBILITY quantitative manner
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Objective Evaluation Method of Steering Comfort Based on Movement Quality Evaluation of Driver Steering Maneuver 被引量:4
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作者 YANG Yiyong LIU Yahui +2 位作者 WANG Man JI Run JI Xuewu 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2014年第5期1027-1037,共11页
The existing research of steering comfort mainly focuses on the subjective evaluation,aiming at designing and optimizing the steering system.In the development of steering system,especially the evaluation of steering ... The existing research of steering comfort mainly focuses on the subjective evaluation,aiming at designing and optimizing the steering system.In the development of steering system,especially the evaluation of steering comfort,the objective evaluation methods considered the kinematic characteristics of driver steering maneuver are not proposed,which means that the objective evaluation of steering cannot be conducted with the evaluation of kinematic characteristics of driver in steering maneuver.In order to propose the objective evaluation methods of steering comfort,the evaluation of steering movement quality of driver is developed on the basis of the study of the kinematic characteristics of steering maneuver.First,the steering motion trajectories of the driver in both comfortable and certain extreme uncomfortable operation conditions are detected using the Vicon motion capture system.The operation conditions are under the restrictions of the vertical height and horizontal distance between steering wheel center and the H-point of driver,and the steering resisting torque else.Next,the movement quality evaluation of driver steering maneuver is assessed using twelve kinds of evaluation indices based on the kinematic analyses of the steering motion trajectories to propose an objective evaluation method.Finally,an integrated discomfort index of steering maneuver is proposed on the basis of the regression analysis of subjective evaluation rating and the movement quality evaluation indices,including the Jerk,Discomfort and Joint Torque indices.The test results show that the proposed integrated discomfort index gives a good fitting with the subjective evaluation of discomfort,which means it can be used to evaluate or predict the discomfort level of steering maneuver.This paper proposes an objective evaluation method of steering comfort based on the movement quality evaluation of driver steering maneuver. 展开更多
关键词 steering maneuver movement quality evaluation DRIVER DISCOMFORT
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Needle Steering for Robot-Assisted Insertion into Soft Tissue:A Survey 被引量:7
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作者 GAO Dedong LEI Yong ZHENG Haojun 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2012年第4期629-638,共10页
Needle insertion is a common surgical procedure used in diagnosis and treatment.The needle steering technologies make continuous developments in theoretical and practical aspects along with the in-depth research on ne... Needle insertion is a common surgical procedure used in diagnosis and treatment.The needle steering technologies make continuous developments in theoretical and practical aspects along with the in-depth research on needle insertion.It is necessary to summarize and analyze the existing results to promote the future development of theories and applications of needle insertion.Thus,a survey of the state of the art of research is presented on algorithms of needle steering techniques,the surgical robots and devices.Based on the analysis of the needle insertion procedure,the concept of needle steering is defined as a kinematics problem,which is to place the needle at the target and avoid the obstacles.The needle steering techniques,including the artificial potential field method and the nonholonomic model,are introduced to control the needles for improving the accuracy.Based on the quasi-static thinking,the virtual spring model and the cantilever-beam model are developed to calculate the amount of needle deflection and generate the needle path.The phantoms instead of the real tissue are used to verify the models mentioned in most of the experimentations.For the desired needle trajectories,the image-guided robotic devices and some novel needles are presented to achieve the needle steering.Finally,the challenges are provided involving the controllability of the long flexible needle and the properties of soft tissue.The results and investigations can be used for further study on the precision and accuracy of needle insertion. 展开更多
关键词 needle insertion needle steering robot-assisted needle insertion path planning needle deflection tissue deformation
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Tracking Performance of Electric Power Steering System Based on the Mixed H_2/H_∞ Strategy 被引量:10
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作者 ZHAO Wanzhong SHI Guobiao +1 位作者 LIN Yi NIE Hong 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2011年第4期584-590,共7页
The tracking performance of motor current is an important factor that affects the assistance torque of electric power steering (EPS) system. Bad tracking performance will cause assistant torque delay, and make road ... The tracking performance of motor current is an important factor that affects the assistance torque of electric power steering (EPS) system. Bad tracking performance will cause assistant torque delay, and make road feeling bad, and is influenced by the input steering torque and system measuring noise. However the existing methods have some shortages on system's robust dynamic performance and robust stability. The mixed H2/H∞ strategy for recirculating ball-type EPS system in a pure electric bus is proposed, and vehicle dynamic model of the system is established. Due to the existence of system model uncertainty, disturbance signals, sensor noises and the demand of system dynamic performance, the indexes of robust performance and road feeling for drivers are defined as the appraisal control objectives. The H∞ method is introduced to design the H∞ controller, and the H2 method is applied to optimize the H∞ controller, thus the mixed H2/H∞ controller is designed. The response of EPS system to the motor current command with amplitude of 20 A, the road disturbance with amplitude of 500 N and the sensor random noise with the amplitude of 1 A is simulated. The simulation results show that the recirculating ball-type EPS system with the mixed H2/H∞ controller can attenuate the random noises and disturbances and track the boost curve well, so the mixed H2/H∞ controller can improve the system's robust performance and dynamic performance. For the purpose of verifying the performance of the designed control strategy, the motor current tracking performance ground tests are conducted with step response input of the steering wheel, double-lane steering test and lemniscate steering test, respectively. The tests show that the mixed H2/H∞ controller for the recirculating ball-type EPS system of pure electric bus is feasible. The designed controller can solve the robust performance and robust stability of the system, thus improve the tracking performance of the EPS system and provide satisfied road feeling for the drivers. 展开更多
关键词 recirculating ball-type electrical power steering (EPS) system tracking performance mixed H2/H∞
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Research on Vehicle Control Technology Using Four-Wheel Independent Steering System 被引量:5
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作者 陈思忠 舒进 杨林 《Journal of Beijing Institute of Technology》 EI CAS 2006年第1期22-26,共5页
The enhancement of vehicle handling stability and maneuverability through active and independent rear wheels control is presented. Firstly, the configuration of four-wheel independent steering prototype vehide is intr... The enhancement of vehicle handling stability and maneuverability through active and independent rear wheels control is presented. Firstly, the configuration of four-wheel independent steering prototype vehide is introduced briefly. Then the concrete overall design of the electronic controllers of four wheel independent steering system (4WIS) is formulated in details. Under the control strategy of zero sideslip angle at mass center, the mathematical model of 4WIS is established to deduce the equations of separated rear wheel steering angles. According to these equations, simulation analysis for 4WIS vehicle performances is finished to show that 4WIS vehicle can improve the maneuverability greatly at low speed and increase the handling stability at high speed. Finally, the road test of 4WIS vehide has performed to verify the correctness of simulation and show that compared with the conventional four wheel steering (4WS) vehicle, the 4WIS vehicle not only improves the kinematical harmony but also decreases steering resistance and lighten abrasion of tires. 展开更多
关键词 four-wheel independent steering system (4WIS) control strategy four-wheel steering system (4WS)
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