Study on general inverse kinematics of rotating/tilting positioner for robotic arc welding off-line programming

Off line programming provides an essential link between CAD and CAM, whose development will result in greater use of robotic arc welding. An arc welding system with a robot and a rotating/tilting positioner is one of the most typical workcells. The inverse kinematics of robot and positioner is the foundation of the off line programming system. The previous researchers only focused on a special solution of the positioner inverse kinematics, which is the solution at down hand welding position. In this paper, we introduce a method for representing welding position. Then a general algorithm of rotating/tilting positioner inverse kinematics is presented, and an approach to find the unique solution of the inverse kinematics is discussed. The simulation experiment results show that the general algorithm can improve the ability of robotic arc welding off line programming system to program all types of welding positions.

Two-mode intelligent coordinating control of position for the welding positioner

A new intelligent control method for welding positioner is proposed. Applying an improved fuzzy controller and a variable PID controller, a two-mode intelligent coordinating controller ( TMICC ) is designed on basis of fuzzy logic and rules. The simulation and experimental results show that this control system can obtain better dynamic and static characteristics.

A high-precision control system for robotic welding positioner

Aiming at the robotic welding positioner with characteristic of parameter change, load change, nonlinearity, and an intelligent control system was researched and developed. This control system used a two-mode controller that based on Fuzzy and PID control method. The results of simulation show that the dynamic and steady performances of the intelligent controller are better than that of single PID or Fuzzy controller. This paper has made a detail theoretical analysis of the constitution design and real-time controlled software and brought up the design and fulfillment method of multi-task real-time control software of high precisely and numerically controlled welding positioner, which has a good result in practice.

LOADS INFLUENCE ANALYSIS ON NOVEL HIGH PRECISION FLEXURE PARALLEL POSITIONER

A large workspace flexure parallel positioner system is developed, which can attain sub-micron scale accuracy over cubic centimeter motion range for utilizing novel wide-range flexure hinges instead of the conventional mechanism joints. Flexure hinges eliminate backlash and friction, but on the other hand their deformation caused by initial loads influences the positioning accuracy greatly, so discussions about loads＇ influence analysis on this flexure parallel positioner is very necessary. The stiffness model of the whole mechanism is presented via stiffness assembly method based on the stiffness model of individual flexure hinge, And the analysis results are validated by the finite element analysis （FEA） simulation and experiment tests, which provide essential data to the practical application of this positioner system.

Design strategy of intelligent CAD for welding positioner scheme design

Traditional CAD technique does not support the design processes such as function definition, conceptual design and preliminary design, which are most creative and play significant roles on the design quality. Because scheme design has close relationship with product structure, performance and technology cost, it is important for applying the intelligent CAD of scheme design to improve the quality and competitive level of the product. The definition and function of welding positioner are discussed in this paper. The new definition of welding positioner extends the research scope of welding positioner to welding fixture and welding positioning motion mechanism. The design process of welding fixture and positioning motion system is described, and the cased based and knowledge based design strategy of welding positioner scheme design intelligent CAD is then put forward, which lays foundation for developing proto type system of welding positioner scheme design.

Method for determining the position of landslide slip-surface with a typical inclinometric curves

In the actual monitoring of deep hole displacement,the identification of slip surfaces is primarily based on abrupt changes observed in the inclinometric curve.In conventional identification methods,inclinometric curves exhibiting indications of sliding can be categorized into three types:B-type,D-type,and r-type.The position of the slip surface is typically determined by identifying the depth corresponding to the point of maximum displacement mutation.However,this method is sensitive to the interval of measurement points and the observation scale of the coordinate axes and suffers from unclear sliding surfaces and uncertain values.Based on the variation characteristics of these diagonal curves,we classified the landslide into three components:the sliding body,the sliding interval,and the immobile body.Moreover,three different generalization models were established to analyze the relationships between the curve form and the slip surface location based on different physical indicators such as displacement rate,relative displacement,and acceleration.The results show that the displacement rate curves of an r-type slope exhibit a clustering feature in the sliding interval,and by solving for the depth of discrete points within the step phase,it is possible to determine the location of the slip surface.On the other hand,D-type slopes have inflection points in the relative displacement curve located at the slip surface.The acceleration curves of B-type slopes exhibit clustering characteristics during the sliding interval,while the scattered acceleration data demonstrate wandering characteristics.Consequently,the slip surface location can be revealed by solving the depth corresponding to the maximum acceleration with cubic spline interpolation.The approach proposed in this paper was applied to the monitoring data of a landslide in Yunnan Province,China.The results indicate that our approach can accurately identify the slip surface location and enable computability of its position,thereby enhancing applicability and reliability of the deep-hole displacement monitoring data.

Effects of the initiation position on the damage and fracture characteristics of linear-charge blasting in rock

To study the effects of the initiation position on the damage and fracture characteristics of linear-charge blasting, blasting model experiments were conducted in this study using computed tomography scanning and three-dimensional reconstruction methods. The fractal damage theory was used to quantify the crack distribution and damage degree of sandstone specimens after blasting. The results showed that regardless of an inverse or top initiation, due to compression deformation and sliding frictional resistance, the plugging medium of the borehole is effective. The energy of the explosive gas near the top of the borehole is consumed. This affects the effective crushing of rocks near the top of the borehole, where the extent of damage to Sections Ⅰ and Ⅱ is less than that of Sections Ⅲ and Ⅳ. In addition, the analysis revealed that under conditions of top initiation, the reflected tensile damage of the rock at the free face of the top of the borehole and the compression deformation of the plug and friction consume more blasting energy, resulting in lower blasting energy efficiency for top initiation. As a result, the overall damage degree of the specimens in the top-initiation group was significantly smaller than that in the inverse-initiation group. Under conditions of inverse initiation, the blasting energy efficiency is greater, causing the specimen to experience greater damage. Therefore, in the engineering practice of rock tunnel cut blasting, to utilize blasting energy effectively and enhance the effects of rock fragmentation, using the inverse-initiation method is recommended. In addition, in three-dimensional(3D) rock blasting, the bottom of the borehole has obvious end effects under the conditions of inverse initiation, and the crack distribution at the bottom of the borehole is trumpet-shaped. The occurrence of an end effect in the 3D linear-charge blasting model experiment is related to the initiation position and the blocking condition.

Combined application of organic fertilizer and chemical fertilizer alleviates the kernel position effect in summer maize by promoting post-silking nitrogen uptake and dry matter accumulation

Adjusting agronomic measures to alleviate the kernel position effect in maize is important for ensuring high yields.In order to clarify whether the combined application of organic fertilizer and chemical fertilizer(CAOFCF)can alleviate the kernel position effect of summer maize,field experiments were conducted during the 2019 and 2020 growing seasons,and five treatments were assessed:CF,100%chemical fertilizer;OFCF1,15%organic fertilizer+85%chemical fertilizer;OFCF2,30%organic fertilizer+70%chemical fertilizer;OFCF3,45%organic fertilizer+55%chemical fertilizer;and OFCF4,60%organic fertilizer+40%chemical fertilizer.Compared with the CF treatment,the OFCF1 and OFCF2 treatments significantly alleviated the kernel position effect by increasing the weight ratio of inferior kernels to superior kernels and reducing the weight gap between the superior and inferior kernels.These effects were largely due to the improved filling and starch accumulation of inferior kernels.However,there were no obvious differences in the kernel position effect among plants treated with CF,OFCF3,or OFCF4 in most cases.Leaf area indexes,post-silking photosynthetic rates,and net assimilation rates were higher in plants treated with OFCF1 or OFCF2 than in those treated with CF,reflecting an enhanced photosynthetic capacity and improved postsilking dry matter accumulation(DMA)in the plants treated with OFCF1 or OFCF2.Compared with the CF treatment,the OFCF1 and OFCF2 treatments increased post-silking N uptake by 66.3 and 75.5%,respectively,which was the major factor driving post-silking photosynthetic capacity and DMA.Moreover,the increases in root DMA and zeatin riboside content observed following the OFCF1 and OFCF2 treatments resulted in reduced root senescence,which is associated with an increased post-silking N uptake.Analyses showed that post-silking N uptake,DMA,and grain yield in summer maize were negatively correlated with the kernel position effect.In conclusion,the combined application of 15-30%organic fertilizer and 70-85%chemical fertilizer alleviated the kernel position effect in summer maize by improving post-silking N uptake and DMA.These results provide new insights into how CAOFCF can be used to improve maize productivity.

FPGA-based position reconstruction method for neutron beam flux spatial distribution measurement in BNCT

A new measurement method for the spatial distribution of neutron beam flux in boron neutron capture therapy(BNCT)is being developed based on the two-dimensional Micromegas detector.To address the issue of long processing times in traditional offline position reconstruction methods,this paper proposes a field programmable gate array based online position reconstruction method utilizing the micro-time projection chamber principle.This method encapsulates key technical aspects:a self-adaptive serial link technique built upon the dynamical adjustment of the delay chain length,fast sorting,a coordinate-matching technique based on the mapping between signal timestamps and random access memory(RAM)addresses,and a precise start point-merging technique utilizing a circular combined RAM.The performance test of the selfadaptive serial link shows that the bit error rate of the link is better than 10-12 at a confidence level of 99%,ensuring reliable data transmission.The experiment utilizing the readout electronics and Micromegas detector shows a spatial resolution of approximately 1.4 mm,surpassing the current method’s resolution level of 5 mm.The beam experiment confirms that the readout electronics system can obtain the flux spatial distribution of neutron beams online,thus validating the feasibility of the position reconstruction method.The online position reconstruction method avoids traditional methods,such as bubble sorting and traversal searching,simplifies the design of the logic firmware,and reduces the time complexity from O(n2)to O(n).This study contributes to the advancement in measuring neutron beam flux for BNCT.

Effects of baffle position in serpentine flow channel on the performance of proton exchange membrane fuel cells

This study used a three-dimensional numerical model of a proton exchange membrane fuel cell with five types of channels:a smooth channel(Case 1);eight rectangular baffles were arranged in the upstream(Case 2),midstream(Case 3),downstream(Case 4),and the entire cathode flow channel(Case 5)to study the effects of baffle position on mass transport,power density,net power,etc.Moreover,the effects of back pressure and humidity on the voltage were investigated.Results showed that compared to smooth channels,the oxygen and water transport facilitation at the diffusion layer-channel interface were added 11.53%-20.60%and 7.81%-9.80%at 1.68 A·cm^(-2)by adding baffles.The closer the baffles were to upstream,the higher the total oxygen flux,but the lower the flux uniformity the worse the water removal.The oxygen flux of upstream baffles was 8.14%higher than that of downstream baffles,but oxygen flux uniformity decreased by 18.96%at 1.68 A·cm^(-2).The order of water removal and voltage improvement was Case 4>Case 5>Case 3>Case 2>Case 1.Net power of Case 4 was 9.87%higher than that of the smooth channel.To the Case 4,when the cell worked under low back pressure or high humidity,the voltage increments were higher.The potential increment for the back pressure of 0 atm was 0.9%higher than that of 2 atm(1 atm=101.325 kPa).The potential increment for the humidity of 100%was 7.89%higher than that of 50%.

On the longitudinal shifts of the Agulhas retroflection point

The Agulhas system is the strongest western boundary current system in the Southern Hemisphere and plays an important role in modulating the Indian-to-Atlantic Ocean water exchange by the Agulhas leakage.It is difficult to measure in situ transport of the Agulhas leakage as well as the Agulhas retroflection position due to their intermittent nature.In this study,an innovative kinematic algorithm was designed and applied to the gridded altimeter observational data,to ascertain the longitudinal position of Agulhas retroflection,the stability of Agulhas jet stream,as well as its strength.The results show that the east-west shift of retroflection is related neither to the strength of Agulhas current nor to its stability.Further analysis uncovers the connection between the westward extension of Agulhas jet stream and an anomalous cyclonic circulation at its northern side,which is likely attributed to the local wind stress curl anomaly.To confirm the effect of local wind forcing on the east-west shift of retroflection,numerical sensitivity experiments were conducted.The results show that the local wind stress can induce a similar longitudinal shift of the retroflection as altimetry observations.Further statistical and case study indicates that whether an Agulhas ring can continuously migrate westward to the Atlantic Ocean or re-merge into the main flow depends on the retroflection position.Therefore,the westward retroflection may contribute to a stronger Agulhas leakage than the eastward retroflection.

An improved initial rotor position estimation method using high-frequency pulsating voltage injection for PMSM

High frequency pulsating voltage injection method is a good candidate for detecting the initial rotor position of permanent magnet synchronous motor.However,traditional methods require a large number of filters,which leads to the deterioration of system stability and dynamic performance.In order to solve these problems,a new signal demodulation method is proposed in this paper.The proposed new method can directly obtain the amplitude of high-frequency current,thus eliminating the use of filters,improving system stability and dynamic performance and saving the work of adjusting filter parameters.In addition,a new magnetic polarity detection method is proposed,which is robust to current measurement noise.Finally,experiments verify the effectiveness of the method.

Graph neural network-based scheduling for multi-UAV-enabled communications in D2D networks

In this paper,we jointly design the power control and position dispatch for Multi-Unmanned Aerial Vehicle(UAV)-enabled communication in Device-to-Device(D2D)networks.Our objective is to maximize the total transmission rate of Downlink Users(DUs).Meanwhile,the Quality of Service(QoS)of all D2D users must be satisfied.We comprehensively considered the interference among D2D communications and downlink transmissions.The original problem is strongly non-convex,which requires high computational complexity for traditional optimization methods.And to make matters worse,the results are not necessarily globally optimal.In this paper,we propose a novel Graph Neural Networks(GNN)based approach that can map the considered system into a specific graph structure and achieve the optimal solution in a low complexity manner.Particularly,we first construct a GNN-based model for the proposed network,in which the transmission links and interference links are formulated as vertexes and edges,respectively.Then,by taking the channel state information and the coordinates of ground users as the inputs,as well as the location of UAVs and the transmission power of all transmitters as outputs,we obtain the mapping from inputs to outputs through training the parameters of GNN.Simulation results verified that the way to maximize the total transmission rate of DUs can be extracted effectively via the training on samples.Moreover,it also shows that the performance of proposed GNN-based method is better than that of traditional means.

Permanent Magnet Temperature Estimation for PMSMs Using Virtual Position-offset Injection

This paper proposes a virtual position-offset injection based permanent magnet temperature estimation approach for permanent magnet synchronous machines(PMSMs). The concept of virtual position-offset injection is mathematically transforming the machine model to a virtual frame with a position-offset. The virtual frame temperature estimation model is derived to calculate the permanent magnet temperature(PMT) directly from the measurements with computation efficiency. The estimation model involves a combined inductance term, which can simplify the establishment of saturation compensation model with less measurements. Moreover, resistance and inverter distorted terms are cancelled in the estimation model, which can improve the robustness to the winding temperature rise and inverter distortion. The proposed approach can achieve simplified computation in temperature estimation and reduced memory usage in saturation compensation. While existing model-based approaches could be affected by either the need of resistance and inverter information or complex saturation compensation. Experiments are conducted on the test machine to verify the proposed approach under various operating conditions.

The Effects of the Geometry of a Current Collector with an Equal Open Ratio on Output Power of a Direct Methanol Fuel Cell

The open ratio of a current collector has a great impact on direct methanol fuel cell(DMFC)performance.Although a number of studies have investigated the influence of the open ratio of DMFC current collectors,far too little attention has been given to how geometry(including the shape and feature size of the flow field)affects a current collector with an equal open ratio.In this paper,perforated and parallel current collectors with an equal open ratio of 50%and different feature sizes are designed,and the corresponding experimental results are shown to explain the geometry effects on the output power of the DMFC.The results indicate that the optimal feature sizes are between 2 and 2.5 mm for both perforated and parallel flow field in the current collectors with an equal open ratio of 50%.This means that for passive methanol fuel cells,to achieve the highest output power,the optimal feature size of the flow field in both anode and cathode current collectors is between 2 and 2.5 mm under the operating mode of this experiment.The effects of rib and channel position are also investigated,and the results indicate that the optimum pattern depends on the feature sizes of the flow field.

Comparison of Results of Different GPS Post-processing Software

In order to obtain high-precision GPS control point results and provide high-precision known points for various projects,this study uses a variety of mature GPS post-processing software to process the observation data of the GPS control network of Guanyinge Reservoir,and compares the results obtained by several kinds of software.According to the test results,the reasons for the accuracy differences between different software are analyzed,and the optimal results are obtained in the analysis and comparison.The purpose of this paper is to provide useful reference for GPS software users to process data.

Effect of Prone Position in Severe Covid-19 Patients in a Referral Center: A Cohort Retrospective Study

Introduction: Covid-19 is defined as a pandemic disease by WHO, in November 2023, WHO recorded 772.1 million confirmed cases and 6.9 million deaths, including 68,382 confirmed cases and 1426 deaths in Madagascar. The management of severe cases of Covid-19 remains a challenge for the healthcare system in a resource-limited country, due to the consumption of human resources, the shortage of medical resources and the lack of capacity in resource-limited countries. Prone position (PP) improves survival in acute respiratory distress, and numerous studies have shown that during Covid-19, it reduces mortality rates at 28 and 90 days, and increases the number of days without mechanical ventilation. However, data on the beneficial effects of PP remain limited in low-income countries. In this context, our study aims to evaluate the benefits of the prone position for severe Covid-19 patients in a referral center in Madagascar. Method: This is a retrospective cohort study, during the 2nd and 3rd waves of COVID-19, over a period of 11 months in two wards managing COVID-19 cases. We included all patients aged 15 and over with severe forms of COVID-19 who required 6 l/min of oxygen therapy. Results: We enrolled 123 patients, including 40 in the prone position and 83 in the supine position, with a mean age of 60.5 ± 12 years. The prone position (DV) reduced the risk of probable complications of COVID-19 with a strong association in terms of use of respiratory assistance (OR = 0.15;95% CI = 0.05 - 0.47), respiratory deterioration (OR = 0.22;95% CI = 0.09 - 0.58), shock (OR = 0.30;95% CI = 0.11 - 0.79) and hemodynamic instability (OR = 0.33;95% CI = 0.12 - 0.95). Univariate analysis of the effect of prone position on SpO2 showed improvement with significant associations with SpO2 at Day 1- Day 3, D4 - D7, D8 - D14, and persisting even at D15 - D21, D3 and D2 before discharge, and at discharge. In the overall population, the mean length of hospital stay was 22.8 ± 22.1 days, with extremes of 1 and 67 days. Univariate analysis of the effect of the prone position showed a reduction in length of hospital stay with a strong association (p = 0.001) and a mean difference of 14 days. The prone position reduced mortality with a significant association (OR = 0.44;95% CI = 0.20 - 0.98). Conclusion: Awake prone position prevents complications of COVID, improves SPO2 even up to hospital discharge and reduces hospital stay. This practice is simple, less costly and suitable in low income countries.

Analysis on the Growth Condition of Cunninghamia lanceolata Plantation in Lingnan Forest Farm

[Objectives]This study was conducted to provide good basic research data for Cunninghamia lanceolata plantations in southern Anhui,so as to improve local ecological,economic and social benefits.[Methods]A 22-year-old near-mature C.lanceolata plantation in Lingnan Forest Farm,Xiuning County,Huangshan City,Anhui Province was investigated and analyzed by sample plot survey.[Results]The average DBH value of the C.lanceolata plantation at the lower slope was the largest,24.7%and 19.2%higher than those at the upper and middle slopes,respectively.The average single plant wood volume at the lower slope was 47.6%and 49.1%higher than those in the upper and middle slopes,respectively.However,the average tree heights at various slope positions showed little difference.Meanwhile,all the indexes showed the phenomenon of semi-shady slope>sunny slope>shady slope under different slope directions.Among them,the effect of slope position on DBH was extremely significant,but the effect of slope direction on DBH was not significant,and slope position,slope direction and the interaction of slope direction and slope position had no significant effects on the tree height of the C.lanceolata plantation.In addition,slope direction and slope position had extremely significant effects on single plant wood volume.From the overall growth situation of the C.lanceolata plantation in Lingnan Forest Farm,the slope position factor had greater effects on various indexes of forest growth than the slope direction factor,mainly manifested in that the lower slope was better than the middle slope,and the middle slope position was better than the upper slope,while although slope direction had some effect on the growth of the C.lanceolata plantation,the influence degree was not as significant as that of slope position.[Conclusions]This study provides some reference for the adjustment and optimization,development and renewal of C.lanceolata plantation structure in the later period in this area,as well as some data support for other theoretical research on economic forests.

Game Theory Based Model for Predictive Analytics Using Distributed Position Function

This paper presents a game theory-based method for predicting the outcomes of negotiation and group decision-making problems. We propose an extension to the BDM model to address problems where actors’ positions are distributed over a position spectrum. We generalize the concept of position in the model to incorporate continuous positions for the actors, enabling them to have more flexibility in defining their targets. We explore different possible functions to study the role of the position function and discuss appropriate distance measures for computing the distance between the positions of actors. To validate the proposed extension, we demonstrate the trustworthiness of our model’s performance and interpretation by replicating the results based on data used in earlier studies.

Dynamics of a Quantum Dissipative System Coupled with an Oscillator

We study the dynamics of a quantum dissipative system. Besides its linear coupling with a harmonic bath modelling the dissipation, we suppose that it is coupled with an oscillator with an interaction of the form s 2 x 2 . In our study, we integrate over the bath and the oscillator, extract the corresponding influence functionals and then solve the system’s sign problem. We apply the theory to the case of a double well and study the time evolution of the expectation value of the position.