A progressive framework for rotary motion deblurring

The rotary motion deblurring is an inevitable procedure when the imaging seeker is mounted in the rotating missiles.Traditional rotary motion deblurring methods suffer from ringing artifacts and noise,especially for large blur extents.To solve the above problems,we propose a progressive rotary motion deblurring framework consisting of a coarse deblurring stage and a refinement stage.In the first stage,we design an adaptive blur extents factor(BE factor)to balance noise suppression and details reconstruction.And a novel deconvolution model is proposed based on BE factor.In the second stage,a triplescale deformable module CNN(TDM-CNN)is designed to reduce the ringing artifacts,which can exploit the 2D information of an image and adaptively adjust spatial sampling locations.To establish a standard evaluation benchmark,a real-world rotary motion blur dataset is proposed and released,which includes rotary blurred images and corresponding ground truth images with different blur angles.Experimental results demonstrate that the proposed method outperforms the state-of-the-art models on synthetic and real-world rotary motion blur datasets.The code and dataset are available at https://github.com/JinhuiQin/RotaryDeblurring.

Reduced-Order Observer-Based LQR Controller Design for Rotary Inverted Pendulum

The Rotary Inverted Pendulum(RIP)is a widely used underactuated mechanical system in various applications such as bipedal robots and skyscraper stabilization where attitude control presents a significant challenge.Despite the implementation of various control strategies to maintain equilibrium,optimally tuning control gains to effectively mitigate uncertain nonlinearities in system dynamics remains elusive.Existing methods frequently rely on extensive experimental data or the designer’s expertise,presenting a notable drawback.This paper proposes a novel tracking control approach for RIP,utilizing a Linear Quadratic Regulator(LQR)in combination with a reduced-order observer.Initially,the RIP system is mathematically modeled using the Newton-Euler-Lagrange method.Subsequently,a composite controller is devised that integrates an LQR for generating nominal control signals and a reduced-order observer for reconstructing unmeasured states.This approach enhances the controller’s robustness by eliminating differential terms from the observer,thereby attenuating unknown disturbances.Thorough numerical simulations and experimental evaluations demonstrate the system’s capability to maintain balance below50Hz and achieve precise tracking below1.4 rad,validating the effectiveness of the proposed control scheme.

Impact Damage Testing Study of Shanxi-Beijing Natural Gas Pipeline Based on Decision Tree Rotary Tiller Operation

The North China Plain and the agricultural region are crossed by the Shanxi-Beijing natural gas pipeline.Resi-dents in the area use rototillers for planting and harvesting;however,the depth of the rototillers into the ground is greater than the depth of the pipeline,posing a significant threat to the safe operation of the pipeline.Therefore,it is of great significance to study the dynamic response of rotary tillers impacting pipelines to ensure the safe opera-tion of pipelines.This article focuses on the Shanxi-Beijing natural gas pipeline,utilizingfinite element simulation software to establish afinite element model for the interaction among the machinery,pipeline,and soil,and ana-lyzing the dynamic response of the pipeline.At the same time,a decision tree model is introduced to classify the damage of pipelines under different working conditions,and the boundary value and importance of each influen-cing factor on pipeline damage are derived.Considering the actual conditions in the hemp yam planting area,targeted management measures have been proposed to ensure the operational safety of the Shanxi-Beijing natural gas pipeline in this region.

Assessing cutter-rock interaction during TBM tunnelling in granite:Large-scale standing rotary cutting tests and 3D DEM simulations

The widespread utilisation of tunnel boring machines(TBMs)in underground construction engineering requires a detailed investigation of the cutter-rock interaction.In this paper,we conduct a series of largescale standing rotary cutting tests on granite in conjunction with high-fidelity numerical simulations based on a particle-type discrete element method(DEM)to explore the effects of key cutting parameters on the TBM cutter performance and the distribution of cutter-rock contact stresses.The assessment results of cutter performance obtained from the cutting tests and numerical simulations reveal similar dependencies on the key cutting parameters.More specifically,the normal and rolling forces exhibit a positive correlation with penetration but are slightly influenced by the cutting radius.In contrast,the side force decreases as the cutting radius increases.Additionally,the side force shows a positive relationship with the penetration for smaller cutting radii but tends to become negative as the cutting radius increases.The cutter's relative effectiveness in rock breaking is significantly impacted by the penetration but shows little dependency on the cutting radius.Consequently,an optimal penetration is identified,leading to a low boreability index and specific energy.A combined Hertz-Weibull function is developed to fit the cutter-rock contact stress distribution obtained in DEM simulations,whereby an improved CSM(Colorado School of Mines)model is proposed by replacing the original monotonic cutting force distribution with this combined Hertz-Weibull model.The proposed model outperforms the original CSM model as demonstrated by a comparison of the estimated cutting forces with those from the tests/simulations.The findings from this work that advance our understanding of TBM cutter performance have important implications for improving the efficiency and reliability of TBM tunnelling in granite.

Three-roller continuous setting round process for longitudinally submerged arc welding pipes

In order to solve the problems of excess ovality and cross-section distortion of longitudinally submerged arc welding pipes after forming,a new three-roller continuous setting round process was proposed.This process can be divided into three stages:loading stage,roll bending stage and unloading stage.Based on the discretization idea,the mechanical model of the primary statically indeterminate problem of the longitudinally submerged arc welding pipes at the roll bending stage was established,and the deformation response was obtained.The simulation and theoretical results show that there are three positive bending regions and three reverse bending regions along the circumference of the pipe.The loading force of each roller shows growth,stability and downward trend with time.The error between the theoretical fitting curve and the simulated data point is very small,and the simulation results verify the reliability of the theoretical calculation.The experimental results show that the residual ovality decreases with the increase of the reduction,and the reduction of the turning point is the optimum reduction.In addition,the residual ovality of the pipe is less than 0.7%without cross-section distortion,which verifies the feasibility of this process.

In situ strength profiles along two adjacent vertical drillholes from digitalization of hydraulic rotary drilling

Drilling speed and associated analyses from factual field data of hydraulic rotary drilling have not been fully utilized.The paper provides the reference and comparison for the utilization of drilling information from two adjacent vertical drillholes that were formed with the same hydraulic rotary drilling machine and bit.The analysis of original factual data is presented to obtain the constant drilling speed during net drilling process.According to the factual data along two adjacent drillholes,the digitalization results respectively include 461 linear zones and 210 linear zones with their constant drilling speeds and associated drilling parameters.The digitalization results can accurately present the spatial distributions and interface boundaries of drilled geomaterials and the results are consistent with the paralleled site loggings.The weighted average drilling speeds from 2.335 m/min to 0.044 m/min represent 13 types of drilled geomaterials from soils to hard rocks.The quantitative relation between drilling speed and strength property is provided.The digitalization results can statistically profile the basic strength quality grades of III to VI from soils to hard rocks.The thickness distributions of four strength quality grades are presented for each individual type of geomaterials along two drillholes.In total,50.2%of geomaterials from drillhole A are grade IV and 57.4%of geomaterials from drillhole B are grade III.The digitalization results can offer an accurate and cost-effective tool to quantitatively describe the spatial distribution and in situ strength profile of drilled geomaterials in the current drilling projects.

New Technology of Multidirectional Loading Rotary Extrusion

To satisfy the requirements for the precise formation of large-scale high-performance lightweight components with inner ring reinforcement, a new multidirectional loading rotary extrusion forming technology is developed to match the linear motion with the rotary motion and actively increases the strong shear force. Its principle is that the radial force and rotating torque increase when the blank is axially extruded and loaded. Through the synergistic action of axial, radial, and rotating motions, the orderly fow of metal is controlled, and the cumulative severe plastic deformation (SPD) of an“uplift-trowel” micro-area is generated. Consequently, materials are uniformly strengthened and toughened. Simultaneously, through the continuous deformation of a punch “ellipse-circle,” a high reinforcement component is grown on the cylinder wall to achieve the high-quality formation of cylindrical parts or the inner-ring-reinforcement components. Additionally, the efective strain increases with rotation speed, and the maximum intensity on the basal plane decreases as the number of revolutions increase. The punch structure also afects the axial extrusion loading and equivalent plastic strain. Thus, the proposed technology enriches the plastic forming theory and widens the application feld of plastic forming. Furthermore, the formed large-scale high-performance inner-ring-stifened magnesium components have been successfully verifed in aerospace equipment, thereby solving the problems of integral forming and severe deformation strengthening and toughening. The developed technology has good prospects for mass production and application.

Formation of nanocrystalline AZ31B Mg alloys via cryogenic rotary swaging

A bulk nanocrystalline AZ31B Mg alloy with extraordinarily high strength was prepared via cryogenic rotary swaging in this study.The obtained alloy shows finer grains,higher strength,and a negligible tension-compression yield asymmetry,compared with that prepared via room-temperature rotary swaging.Transmission electron microscopy investigations showed that at the initial stage,multiple twins,mostly tension twins,were activated and intersected with each other,thereby refining the coarse grains into a fine lamellar structure.Then,two types of nanoscale subgrains were generated with increasing swaging strain.The first type of nanoscale subgrain contained twin boundaries and low-angle grain boundaries.This type of subgrain appeared at the twin-twin intersections and was mainly driven by high local stress.The second type of nanoscale subgrain was formed within the twin lamellae.The boundaries of this type of subgrain did not contain twin boundaries and were transformed from massive dislocation arrays.Finally,randomly oriented nanograins were obtained via dynamic recrystallization,under the combined function of deformation heat and increased stored energy.Compared with room-temperature rotary swaging,cryogenic rotary swaging exhibits a slower grain refinement process but a remarkably enhanced grain refinement effect after the same five-pass swaging.

Multi-Objective Adaptive Optimization Model Predictive Control:Decreasing Carbon Emissions from a Zinc Oxide Rotary Kiln

The zinc oxide rotary kiln,as an essential piece of equipment in the zinc smelting industrial process,is presenting new challenges in process control.China’s strategy of achieving a carbon peak and carbon neutrality is putting new demands on the industry,including green production and the use of fewer resources;thus,traditional stability control is no longer suitable for multi-objective control tasks.Although researchers have revealed the principle of the rotary kiln and set up computational fluid dynamics(CFD)simulation models to study its dynamics,these models cannot be directly applied to process control due to their high computational complexity.To address these issues,this paper proposes a multi-objective adaptive optimization model predictive control(MAO-MPC)method based on sparse identification.More specifically,with a large amount of data collected from a CFD model,a sparse regression problem is first formulated and solved to obtain a reduction model.Then,a two-layered control framework including real-time optimization(RTO)and model predictive control(MPC)is designed.In the RTO layer,an optimization problem with the goal of achieving optimal operation performance and the lowest possible resource consumption is set up.By solving the optimization problem in real time,a suitable setting value is sent to the MPC layer to ensure that the zinc oxide rotary kiln always functions in an optimal state.Our experiments show the strength and reliability of the proposed method,which reduces the usage of coal while maintaining high profits.

钢铁工业含锌尘泥回转窑处置技术的应用进展

钢铁冶炼过程(炼铁、炼钢)会产生大量的含锌尘泥,该尘泥不宜直接返回炼铁工序,一般以厂内长期堆存或外委等方式进行处理。随着我国钢铁企业“固废不出厂”“循环经济”“绿色制造”等新理念的深入推进,在钢铁厂内部采用新型回转窑技术直接处置含锌尘泥成为大势所趋。本文介绍了传统回转窑处置含锌尘泥技术的工艺流程,从原料、生产过程和产品特点等方面分析其不足,提出采用原料造球、多喷孔分级进风等创新技术的新型回转窑处置技术,该技术明显提高了回转窑处置能力,缓解了回转窑结圈,已相继在永锋钢铁、八一钢铁、诚钰环保等钢铁企业和环保公司稳定运行,产生了良好的经济与社会效益。该技术在多固废协同处置、热渣干式冷却等方面具备应用前景。

正流量液压挖掘机回转系统节能控制

针对徐工某中型正流量挖掘机回转系统存在的较大溢流损失,设计了一种减小能量损失的节能控制方法。首先建立挖掘机回转系统关键部件模型;其次基于趋近律设计滑模控制器,根据模糊规则确定趋近律参数;最后根据马达溢流阀压力改变泵排量,以实现泵输出流量对压力的快速响应,从而实现节能降耗的目的。经仿真分析,较挖掘机传统的开环控制与PID控制,采用模糊滑模控制下的泵输出流量明显减少,且马达转速较前两种算法变化不大,不会降低回转作业效率,可知设计的算法有效。

基于双自由度转台的全向空间单目视觉室内定位测量方法

针对传统单目视觉测量系统测量视场有限的问题,本文提出一种基于双自由度旋转平台的全向空间单目视觉测量方法。首先,对双自由度旋转平台的转轴参数进行标定,用副相机拍摄固定在双自由度转台上的棋盘格标定板,提取棋盘格角点的位置坐标,并将其转化到同一相机坐标系下。利用PCA(主成分分析)平面拟合得到初始位置转轴参数中的方向向量,使用空间最小二乘圆拟合方法得到初始位置下转轴参数中的位置参数。然后,通过转台转动的角度以及罗德里格斯公式将不同位置下相机获取的数据进行坐标系统一,实现水平和竖直方向全向空间下的目标测量。最后,通过高精度激光测距仪验证了本方法的测量精度,并通过与双目视觉测量系统、wMPS测量系统进行比对实验,验证了本方法的全向空间测量能力。实验结果表明,本方法测量精度基本达到双目视觉测量系统水平,但测量范围远大于双目视觉测量,可以满足全向空间测量要求。

考虑碳捕集机组与氢储能系统协调运行的源荷储低碳经济调度

为应对新型电力系统建设过程中带来的新能源消纳困难与系统调控能力不足的现象,该文提出一种考虑碳捕集机组与氢储能系统协调运行的源荷储低碳经济调度策略。首先,对源荷储三侧运行机理展开分析,充分利用碳捕集机组、氢储能系统、需求响应提高电力系统调度灵活性。其次,构建源网荷协调运行结构框架,并针对旋转备用需求下碳捕集机组与氢储能系统运行中的不足之处,对二者协调运行特性进行研究。最后,以系统综合成本最优为目标,建立碳捕集机组与氢储能系统协调运行的源荷储低碳经济调度模型,采用模糊隶属度函数对系统不确定性进行描述,确定系统旋转备用需求。经算例验证表明,该文所提模型在兼顾系统运行的经济性与低碳性的前提下,可显著提高系统新能源消纳水平。

圆筒混合机内不同粒径颗粒的轴向分离研究

为了探讨颗粒在圆筒混合机的轴向分离机理,提出了一种由多段摩擦系数不同圆筒组成的新型圆筒混合机结构.以颗粒堆积角为参考,通过仿真与实验测试得到了颗粒的参数,并基于圆筒混合机分离实验验证了仿真模型.以此为基础,开展基于离散元法的不同粒度颗粒在圆筒混合机内分离过程的数值模拟研究,根据颗粒分布、休止角、运动速度、回转半径等分析了不同粒径颗粒在分离过程中的流动形态,并基于分离指数探讨颗粒的分离特性.结果表明:圆筒混合机侧壁摩擦系数不同将导致颗粒休止角不同,从而使不同区间颗粒的运动速度不同,高摩擦系数区域内颗粒运动快,而低摩擦系数区域内颗粒运动较慢;运动速度的不同导致颗粒在新型圆筒混合机内将产生明显的轴向分离现象,小粒径颗粒聚集在低摩擦系数区,而大粒径颗粒聚集在高摩擦系数区.

精密镗床旋转轴几何误差完备性测量与辨识

针对四轴卧式镗床旋转轴需测几何误差的数目不统一与完备性缺失的问题,提出了基于形状创成函数的四轴卧式镗床旋转轴PIGEs形成机理分析方法与旋转轴完备几何误差测量辨识方法。基于形状创成机理构建了卧式镗床几何误差创成函数,确定了旋转轴可通过误差补偿进行调整的最少与位置无关的几何误差(Position-independent geometric error, PIGEs)数目。建立了卧式镗床旋转轴4项PIGEs、6项与位置有关的几何误差(Position-dependent geometric error, PDGEs)、6项安装误差(Setup error, SEs)与球杆仪(Double ball bar, DBB)测量轨迹半径之间的完备性函数模型,设计了基于DBB的四轴联动Viviani曲线测量轨迹,构建了旋转轴6项PDGEs的NURBS表征与PIGEs、SEs辨识方法。开展了误差补偿对比实验验证,结果表明,利用几何误差完备性测量与辨识结果进行误差补偿,较仅单一补偿6项PDGEs可提升圆轨迹测量精度40.69%。

基于传递矩阵法的指向式旋转导向工具主轴振动特性

指向式旋转导向工具应用于井眼轨迹控制时,其主轴的动力学特性将直接影响到井眼轨迹控制效果及作业安全,而在钻进工况下,工具钻压传递机构在主轴上的位置对主轴的动力学特性起着重要的作用。因此,为了分析钻压传递机构的位置对主轴动力学特性的影响,利用多体系统传递矩阵法建立了指向式旋转导向工具外壳-轴承-主轴系统的动力学模型。通过推导主轴上任意节点的几何和力学方程,该研究能够评估钻压传递机构的位置对主轴动态性能的影响规律。结合实例运算分析了钻压传递机构的安装位置对主轴固有频率和振型的影响,探讨了工具造斜时,钻压传递机构安装位置对主轴动态位移的影响。结果表明,随着钻压传递机构安装位置距离钻头越远,主轴固有频率和动态位移均增大,因此在满足工作要求下,推荐钻压传递机构安装位置尽可能靠近钻头端。为验证基于传递矩阵法建立的主轴动力学模型的正确性以及钻压传递装置安装位置对主轴动态位移影响规律,在指向式旋转导向工具试验台架上进行了钻进工况下主轴测点偏移量测试试验,结果表明,试验测得的数据与理论计算的数据基本吻合,误差最大仅为6.47%。

新型旋耕开沟施肥播种机的设计与研究

针对播种施肥难的问题,结合垄作区作物种植的农艺要求,设计了一款新型旋耕开沟施肥播种机。机具适用于小麦、大豆和玉米垄上栽培技术,可实现精确深施肥、精密播种、开沟、覆土和镇压等作业,为小麦、大豆和玉米的规模化、机械化作业提供了一定的技术支撑。试验结果表明:设计的新型旋耕开沟施肥播种机对降低漏播、提高播种深度和植株距离的合格率具有重要意义,大大提高了作业质量和效率。

岩体现场旋切触探教学实验平台研发

快速准确获取岩体力学参数是各类岩体工程加固设计与安全防护的关键,为满足岩体工程智能化的科教要求,提高学生的工程实际创新能力,该文研制了一台可自动连续监测钻孔过程的岩体现场旋切触探教学实验平台,平台由电气控制系统、液压系统、油泵传动系统、随钻监测系统和人机互动等多个系统组成。对25个岩石开展现场旋切触探试验,准确获得了扭矩、转速、钻速和压力等参数,以及扭矩、压力与每转钻进量三者之间的关系曲线,证明该设备能有效开展岩体性能原位测试,为岩体工程提供了一种勘察手段。

粉垄深松深耕改善南疆重度盐碱土理化性质和棉花产量及其后效

南疆地区棉田土壤高盐碱与板结限制棉田增产增效。粉垄耕作有利于破除土壤板结层、促进灌溉洗盐作用。为探讨粉垄深松深耕对盐碱棉田的改良效果,该研究开展2 a(2021–2022年)田间试验,共设置3个粉垄耕作深度(DT20:深松20 cm,DT40:深松40 cm,DT60:深松60 cm)与常规耕作(五铧犁翻耕20 cm)交替,并设置CT20为连续2 a常规耕作,分析其对土壤理化性质、棉花生长及籽棉产量的影响,通过结构方程模型量化明确作物增产效应。结果表明:1)粉垄深松深耕能够疏松耕作范围内土壤以优化土壤结构。其中DT60较DT20与CT20显著降低耕作深度范围内的土壤容重、粗大团聚体(>2 mm)的含量与黏粒和粉粒(<0.053 mm),这使得土壤的平均重量直径和平均几何直径显著降低,并增加孔隙度和微团聚体(<0.25~0.053 mm)的含量。2)DT40与DT60处理能够显著增加0~40cm土壤水分,并降低土壤盐分和pH值,而DT20处理则仅能降低0~20 cm的土壤盐分,而DT60能够较DT40显著降低0~60 cm土壤盐分和pH值,但不能显著增加土壤水分。盐分降低促进了土壤中0~40 cm土层有机碳和0~60 cm的全氮累积。3)结构方程模型的分析表明,土壤盐分是影响籽棉产量的间接因子,干物质量累计和棉铃质量为直接因子。土壤盐分的降低,有利于土壤养分累积和根系生长,促进养分向植株运移和累积,提高棉花干物质累积量和籽棉产量。因此DT60处理使得土壤盐分降低的效果最佳,使得该处理下的增产效果最佳。综合分析得,粉垄深松深耕60 cm与常规耕作交替的制度能够实现南疆重度盐碱棉田改良与增产增效协同。

水蒸气辅助煤与生物质回转炉共热解制高热值可燃气特性研究

煤与生物质共热解作为实现这两种含碳资源高效清洁利用的重要技术路径,对实现碳中和目标有重要意义。本文旨在探究水蒸气辅助下,不同条件对煤与生物质共热解制备高值可燃气体(H_(2)、CH_(4)、CO)的影响。在大型回转炉中,探究了褐煤与玉米秸秆共热解及水蒸气辅助共热解温度、掺混比对H_(2)、CH_(4)、CO产气量和热值的影响,并通过Aspen Plus搭建热解模型对其进行验证。实验及仿真结果表明:秸秆与褐煤存在明显的协同效应,无水蒸气时最佳产气条件可燃气热值超过3000 J/L(热解温度600℃,秸秆掺混比80%)。水蒸气条件下,促进了共热解可燃气高热值组分H_(2)、CH_(4)、CO的生成,最佳条件下可燃气热值提升88%达到5639 J/L(热解温度800℃,秸秆掺混比80%)。