Contact State Estimation Based on Surface-matching in Virtual Assembly

Contact problems are one of the most challenging fields in virtual assembly. Information of contact states could be utilized to realize compliant motion of work pieces, to analyze the contact stress, to assist positioning parts and so on. Some methods have already been proposed to estimate contact states between objects and in most of these methods contact states between objects are simplified in order to realize real-time visual reality animation. While in virtual assembly contact states between parts are required to analyze contact stress, deformation and quality. Besides the contact state estimation method for virtual assembly should be able to handle a number of complex parts in real time. There are rarely known methods which could meet this requirement till now. In this study a contact state estimation algorithm based on surface-matching for virtual assembly is proposed. Contacts between parts are categorized into six basic types according to contact region of surfaces. Based on continuous collision detection of polyhedral models a novel contact state identification algorithm which is based on surface matching is proposed. Then contact evolution algorithm, which utilizes the extern force and contact information, is implemented to handle evolution of contact state. Finally a prototype system is developed to verify the above technologies. Experiment results reveal that contact state between parts could be estimated correctly in real time virtual assembly. The proposed contact state estimation algorithm provides a complete solution to obtain the contact state between parts in virtual assembly. Information of contact state between parts could be utilized to realize contact dynamic, contact stress analysis, assembly quality analysis, and so on.

ROBOT PROGRAMMING BY DEMONSTRATION FOR TASK IN CONTACT STATE

Robot programming by demonstration (PBD) system for task in which objectrequires contact with environment is built based on the controlling skill model. The skill isdescribed in three aspects: contact state classifier, acquirement of contact states sequence andcontrolling transition between states. The classifier is developed with the support vector machineby using force sense. Sequence of states is obtained from the force signal of demonstration by theevent trigger. The velocity command of transition is achieved by linearization method. The PBDsystem is successfully built with robot controller with open architecture.

Effect of thickness of friction material on contact state of ultrasonic motor

Performances of ultrasonic motor (USM) considerably depend on contact state between stator and rotor.Based on an electric contact method,the effects of thickness of single homogeneous friction material and gradient friction material on contact state between stator and rotor were studied.The relative contact length was employed to describe the contact characteristics of stator and rotor.With the decrease of thickness of friction material,the contact characteristic of stator and rotor were analyzed and compared when single homogeneous friction material and gradient friction material were used.The experimental results showed that the effect of gradient friction material on contact characteristic is smaller than that of single homogeneous friction material when the thickness of friction material decreases.The result can provide experimental guidance for design and choosing of friction material for USM.

Modeling and Analysis of Soft Bionic Fingers for Contact State Estimation

Contact state estimation is significant for evaluating grasp stability of bionic hands,especially in unknown environments or without visual/tactile feedback.It still remains challenging,particularly for soft bionic hands without integrating complicated external sensors on soft fingers.Focusing on this issue,a proprioceptive-sensing-based systematic solution is proposed to estimate the contact state of soft bionic fingers in a single grasp.A kinematic model for soft fingers is first developed to capture the joint rotation angles and tendon displacement.A kinetostatic model is further built to estimate the contact force when soft fingers come in contact with objects.On this basis,a system stiffness model for soft fingers during preshaping and initial contact with objects is proposed to perceive the contact state.Moreover,an instantaneous stiffness model for soft fingers when initial contact occurs is developed for estimating the contact position on certain phalanges,especially the contact position along the distal phalange.The proposed proprioceptive-sensing-based approach is the first application in soft fingers without integrating complicated external sensors,which makes them concise and practical.Experiments are carried out to demonstrate the effectiveness and efficiency of our proposal.

Latent Tuberculosis Infection among Household Contacts of Pulmonary Tuberculosis Cases in Central State, Sudan: Prevalence and Associated Factors

Introduction: Tuberculosis is a major health problem in developing countries including Sudan. Screening for TB cases through Household contacts (HHCs) investigation is an appropriate strategy to interrupt transmission of TB. Objectives: To determine the prevalence tuberculosis infection and risk factors for tuberculosis infection among household contacts in Wadimadani locality, Central State, Sudan, between November 2015 and April 2016. Methods: An analytical cross-sectional study conducted. During study period, to confirm TB diagnosis, all suspect contacts were tested through sputum samples, tuberculin skin test or chest X-ray. Structured questionnaire was used to collect socio-demographic and environmental factors. Results: One hundred forty six patients of smear-positive pulmonary tuberculosis were included in the study, 657 household contacts were identified and screened. Forty three new TB cases were detected from household contacts, yielding a prevalence of 6.5% (95% confidence interval = 0.05, 0.09) of latent tuberculosis infection (LTBI). Two factors were significantly associated with LTBI among HHCs: duration of contact with a TB patient ≤ 4 months (P = 0.03) and the educational status (P = 0.02). Conclusion: Screening of HHCs of index case of TB will contribute in early detection and treatment of new cases, and considered as a forward step towards eliminating TB.

金刚石砂轮与金刚石滚轮磨削接触的声发射监测

为了实现金刚石砂轮磨削加工金刚石滚轮过程的自动化,需要对磨削接触状态进行准确识别。由于磨削过程中材料去除率较小导致声发射信号幅值变化不显著,仅用有效值对磨削接触状态识别的准确性受噪声影响很大。针对此问题,通过模态分解和相关性分析相结合的方法对采集的声发射信号进行处理,再计算各分量的有效值和方差值完成特征提取,最后利用支持向量机对磨削接触状态进行识别。实际应用发现:该方法对滚轮的磨削接触状识别准确率达到了98.3%,准确实现了对磨削接触状态的识别。

Influence of interface states, conduction band offset, and front contact on the performance of a-SiC：H(n)/c-Si(p)heterojunction solar cells

P-type silicon heterojunction（SHJ） solar cells with a-SiC：H（n） emitters were studied by numerical computer simulation in this paper. The influence of interface states, conduction band offset, and front contact on the performance of a-SiC：H（n）/c-Si（p） SHJ solar cells was investigated systematically. It is shown that the open circuit voltage（Voc） and fill factor（F F） are very sensitive to these parameters. In addition, by analyzing equilibrium energy band diagram and electric field distribution, the influence mechanisms that interface states, conduction band offset, and front contact impact on the carrier transport, interface recombination and cell performance were studied in detail. Finally, the optimum parameters for the a-SiC：H（n）/c-Si（p） SHJ solar cells were provided. By employing these optimum parameters, the efficiency of SHJ solar cell based on p-type c-Si was significantly improved.

基于FWD弯沉盆参数的沥青路面层间接触状态识别方法及耐久性评估

层间黏结接触状态是决定沥青路面多层复合结构整体性的关键因素之一,层间状态的改变会显著的影响各结构层的力学响应。应用落锤式弯沉仪(falling weight deflectormeter,FWD)无损检测技术研究基于弯沉盆参数的沥青路面层间接触状态识别方法。依托京沪高速公路改扩建工程,建立路面结构三维动力有限元模型,分析不同基-面层间接触状态下各类FWD弯沉盆参数与基层、面层应力的相关性排序,构建综合反映基-面层受力特性的FWD弯沉盆指标DD_(1)/DD_(2)(DD_(1)=D_(0)-D_(20),DD_(2)=D_(20)-D_(60),其中D_(0)、D_(20)和D_(60)分别代表距离荷载中心处0、20、60 cm的弯沉值),回归分析表明:其与基-面层层间摩擦系数具有良好的乘幂关系;进而结合现场芯样的疲劳方程和有限元模拟分析结果,推导出在满足沥青面层使用期寿命的前提下层间摩擦系数的最低要求,在此基础上对既有路面耐久性进行评估,结果与实际吻合。本文方法为后续基于FWD推算层间摩擦系数、评估路面疲劳耐久性提供了新的途径和理论依据。

砂-粉混合料颗粒接触状态的临界条件确定

砂-粉混合料被广泛应用于高速铁路路基、人工筑岛及海底沉管隧道垫层等重大工程,如何科学地表征砂-粉混合料复杂的颗粒接触状态及连续演变的力学行为特征,并深入揭示其对混合料静/动力学特性的影响已是一项紧迫的基础性科学研究任务。本文基于代表性砂-粉混合料的基本物理性能指标及力学特性指标试验数据,验证Rahman等提出的区分“细粒填充砂粒”和“砂粒悬浮细粒”的阈值细粒含量FCth半经验公式预测能力。基于理想二元介质材料的理论最小孔隙比计算方法,提出确定中间性态土颗粒接触状态临界条件参量FC_(in-min)和FC_(in-max)的方法,分析各参数对FC_(in-min)和FC_(in-max)的影响规律,建立基于基本物理性能指标的FC_(in-min)和FC_(in-max)预测方法,最终提出全FC范围(FC=0~100%)的砂-粉混合料各颗粒接触状态临界条件参量的有效评价方法。

冲击式人工捣固装置对有砟道床作用效应及质量状态影响研究

人工捣固作业是实现小区段线路日常养护维修的重要方式之一,可有效改善轨道几何形位、缓和线路不平顺、保证列车运行安全性。然而目前人工捣固装置进行养护维修作业主要依赖现场工人的工程实践经验,缺乏相关理论研究。为研究有砟道床人工捣固装置作业工作机理,借助离散元素法(DEM)-多体动力学(MBD)耦合方法,建立人工捣固装置-轨枕-有砟道床耦合仿真模型,并在现场开展人工捣固作业前后横向阻力试验,验证了模型的可靠性,分析人工捣固作业对道砟颗粒接触力及道床密实度的影响。结果表明:人工捣固作业会使道床横向阻力降低19.51%,道床横向稳定性减弱;捣入阶段会使道砟间接触力分布发生明显变化,其中,水平平面接触力分布由近似圆形向椭圆形变化分布,纵向平面接触力则由半圆形向花束形变化分布,颗粒间接触关系不断变化,逐步建立新的稳定传递关系;捣固作业会使道砟颗粒受迫运动,使枕盒及砟肩处密实度降低。因此,在人工进行捣固作业后应及时补填枕盒处道砟颗粒,并对砟肩处道砟进行拍实。

齿槽表面多级微织构构筑及其润湿机理

目的使外科手术器械表面具有超疏水功能,有效防止感染,解决医疗器械的清洁问题,降低设备维护成本。方法通过电火花线切割(WEDM)复合纳秒激光烧蚀在3Cr13不锈钢表面制备了亚毫米/微米多级复合织构表面,随后在表面上制备了1H,1H,2H,2H-全氟癸基三乙氧基硅烷溶液(PFDS)自组装超疏水涂层。利用台式扫描电镜和激光共聚焦显微镜观察复合织构表面形貌特征,使用接触角测量仪对水滴与复合织构表面的接触状态进行观察,并测量水滴的接触角与滚动角。利用表界面张力仪对多级织构表面黏附力进行表征。结果微米沟槽在亚毫米齿槽斜面上均布且不同高度的沟槽形状一致,方向与齿槽平行。水滴与齿槽阵列表面为Wenzel模型接触,水滴与多级结构表面为Cassie-Baxter模型接触。齿槽阵列试样最大黏附力为164.1μN,最小黏附力为123.5μN,多级织构试样的黏附力分别为77.2、47、24.1μN。结论微米沟槽的存在改变了水滴接触状态,在亚毫米尺度上水滴与表面的接触状态由Wenzel状态转为Cassie-Baxter状态,有效改善了水滴的接触性能与滚动性能。多级织构试样齿槽顶角的减小,有效减小了固液接触面积,水滴接触角最大为163.2°。

有砟道床人工捣固作业模型建立及力学性能分析

为研究人工捣固作业对道床质量状态的作用机理,基于离散元与多体动力学耦合的建模方法,建立人工捣固装置-散体道床仿真模型,有效模拟工人的捣固作业过程,并通过现场试验结果验证模型的正确性,分析人工捣固作业对道床刚度及接触状态的影响。研究结果表明:人工捣固作业会使道床刚度降低,作业后支承刚度为101.85 kN/mm,降低了28.48%,回弹刚度为206.77 kN/mm,降低了9.02%;在捣入及振捣阶段,道砟间接触状态发生改变,同时轨枕下方与道砟颗粒的接触数目增多,有利于枕下空隙的填充;在撤镐阶段,道砟配位数逐渐增大,法向接触力分布趋向均匀,有利于道床的稳定;人工捣固作业有效减小了轨枕周边区域道砟间接触状态的差异。

外电场作用下纳米结构表面润湿转变机理研究

采用分子动力学模拟方法,研究了外电场作用下液膜在带有纳米凹槽的疏水表面处由Cassie态向Wenzel态的润湿态转变过程,并分析了其转变机理。结果表明,润湿状态转变所需时长并不随着电场强度的增大而降低,而是存在一个促进润湿状态转变的最佳电场强度。基于电场作用下的液滴润湿角及液柱极化应力的计算分析表明,一方面外电场可以增强表面润湿性,有利于Cassie态向Wenzel态的润湿态转变,另一方面,液膜受电场极化的影响而沿电场方向伸长,从而减缓了液膜向纳米凹槽的渗入。因此,随着电场强度的增大,液膜润湿状态转变时长呈现先减小后增大的趋势。本研究揭示了外电场作用下纳米结构表面的润湿态转变的机理,有助于深入理解微纳米结构表面的电润湿现象。

考虑界面接触状态的湿式离合器扭矩特性

为提升重型车辆传动系统中湿式离合器可靠性及使用寿命,建立了考虑界面接触状态的湿式离合器扭矩模型,通过模型研究了不同参数对离合器扭矩特性的影响规律。首先,对湿式离合器进行仿真模拟,增加界面接触状态参数,搭建湿式离合器充油模型与结合模型。其次,基于SAE#2试验台开展湿式离合器扭矩试验,将仿真获得的结果与离合器试验数据进行对比,验证了仿真模型的有效性。最后,结合模型研究了油压、油温和碟形量对湿式离合器扭矩特性的影响规律。结果表明:考虑了界面接触状态的模型相较于传统模型具有更高的准确性,提高了22.30%;随着控制油压的减小,离合器的总扭矩降低,当压力从1.5 MPa减小到1.0 MPa时,扭矩峰值降低了22.38%,同时制动时间延长了46.05%;润滑油温度对离合器的黏性转矩和摩擦扭矩都具有一定程度的影响,温度越高,黏性转矩越小,摩擦扭矩越大,整体制动时间稍有减小;摩擦片碟形量对离合器扭矩的影响主要体现在扭矩产生时间,碟形量的增加会导致离合器制动时间增加。

旧水泥混凝土路面沥青铺装层反射裂缝疲劳断裂分析

针对旧水泥混凝土路面沥青铺装层容易产生反射裂缝的特点,采用断裂力学理论,建立了5层体系平面应变模型,对各种荷载作用下不同层间结合状态和路面结构参数的应力强度因子进行了计算分析,并对常用防止反射裂缝措施进行了效果比较。结果表明:层间粘结状态对裂缝扩展的影响较大,土工格栅的防止反射裂缝效果相对较好。

A Simple Method of Surface Parameter Extraction for Gate Schottky Contact in 4H-SiC MESFETs

We investigate the effects of the surface states on the Schottky contacts in 4H-SiC MESFET. The Ti/Pt/Au gate metal contacts are deposited by electron beam evaporation and patterned by a lift-off process. Based on thermionic theory,a simple parameter extraction method is developed for determination of the surface states in metal/4H-SiC Schottky contacts. The interface state density and interface capacitance are calculated to be 4. 386 × 10^12 cm^-2 · eV^- 1 and 6. 394 × 10^-6 F/cm^2 ,which are consistent with the device＇s terminal characteristics.

列车车载继电器触点状态诊断研究

为了解决列车车载继电器触点状态准确诊断的问题,提出一种触点状态诊断算法。首先对列车车载继电器触点的失效机理进行分析,设计并完成了在模拟负载下的继电器寿命试验,采集动作过程中的线圈电流与触点电压数据。通过分析列车车载继电器线圈电流及触点电压与动作过程的联系,选取超程时间、吸合时间等8个参数作为继电器触点状态判断的特征参数。基于列车车载继电器超程时间退化量将继电器状态分为5个阶段,使用主成分分析法(PCA)与逻辑回归,建立了分类模型。用验证数据集对列车车载继电器触点状态诊断模型进行验证,结果表明该方法能够实现对列车车载继电器触点状态诊断。

WiFense:从衍射模型到边界监控

近年来,随着普适计算概念的深入人心,智能感知技术已成为研究者们关注的焦点,且基于WiFi的非接触式感知因其优秀的普适性、低廉的部署成本以及良好的用户体验越来越受到学术界和工业界的青睐.典型的WiFi非接触式感知工作有手势识别、呼吸检测、入侵检测、行为识别等,这些工作若实际部署,需首先避免其他无关区域中无关行为的干扰,因此需要判断目标是否进入到特定的感知区域中.这意味着系统应具备精准判断目标在界线哪一侧的能力,然而现有工作未能找到一个可以对某个自由设定的边界进行精确监控的方法,这阻碍了WiFi感知应用的实际落地.基于这一关键问题,从电磁波衍射的物理本质出发,结合菲涅尔衍射模型(Fresnel diffraction model),找到一种目标穿越link(收发设备天线的连线)时的信号特征(Rayleigh distribution in Fresnel diffraction model,RFD),并揭示该信号特征与人体活动之间的数学关系;之后以link作为边界,结合天线间距带来的波形时延以及AGC(automatic gain control)在link被遮挡时的特征,通过越线检测实现对边界的监控.在此基础上,还实现了两个实际应用,即入侵检测系统和居家状态监测系统,前者的精确率超过89%、召回率超过91%,后者的准确率超过89%.在验证所提边界监控算法的可用性和鲁棒性的同时,也展示了所提方法与其他WiFi感知技术相结合的巨大潜力,为WiFi感知技术的实际部署提供了思考方向.

高转速动力涡轮盘间螺栓连接结构稳健性分析

针对动力涡轮间螺栓连接结构在实际工作载荷环境中可能出现的稳健性问题,提出了螺栓连接结构稳健性评估方法,分别从有效接触面状态系数、接触应力等方面评估连接界面在外载荷作用下的接触特性变化。以大功率涡轴发动机动力涡轮转子多级轮盘间螺栓连接结构为例,应用提出的连接结构稳健性评估方法,发现工作载荷环境下界面有效接触面积小于20%且最大接触应力超过500 MPa,稳健性较差。在此基础上,深入分析了3种典型几何构形对连接界面径向变形、角向变形、接触面状态及损伤的影响,总结了不同构形盘间螺栓连接结构的力学特性随转速的变化规律,凝练出盘间−螺栓连接结构在高转速下其连接稳健性更具优势。应用提出的稳健设计方案,对大功率涡轴发动机动力涡轮转子间螺栓连接结构进行优化设计及稳健性评估。结果表明:工作状态下界面有效接触面积占比超过65%,最大接触应力265 MPa仅为原始方案的1/2左右,验证了该方案在提高接触面状态系数和降低接触应力具有显著效果。

考虑管-浆-土接触状态的顶力计算方法

众多工程的顶管顶力估算值一般按照规范经验公式计算,而经验公式只考虑管道悬浮状态下的管浆摩阻力,没有考虑管土和管浆的接触状态,导致顶力估算值与实测值差异较大。为解决这一问题,在研究注浆减阻作用机理及管土接触模型理论的基础上,采用压力差的方法判断管-浆-土三者的接触状态,得到相应模型。再根据不同接触状态的受力分析,推导出相应顶力计算公式,并与规范公式、理论公式和实测顶力进行对比分析,结果与实测值结果相近,证明了本文公式预测顶力的准确性。最后根据实测顶力与顶程数据,得到管浆土平均摩阻力与顶程的变化关系,分析出顶管过程中管-浆-土接触状态的变化规律,为管-浆-土接触状态的顶力计算方法提供可靠依据。