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.

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.

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。

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。

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。

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.

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。

Force Based Skill Learning for Robot Tasks in Contact Conditions

To acquire human operation skill based on force sense, element contact form (ECF) is proposed to describe contact condition firstly. The skill is modeled as a sequence of discrete ECFs. Since different ECF has different force distribution, a support vector machine classifier is built to identify the contact conditions according to the force signal. Finally, the robot can obtain the skill from the human demonstration.

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。

供油温度对润滑状态影响的试验观察与数值模拟

采用球-盘点接触光干涉润滑油膜测量装置,观察了不同供油温度下的接触区润滑状态.结果表明,随着供油温度的升高,润滑油黏度降低,润滑油成膜能力整体下降,接触区润滑状态在较大速度范围内处于边界润滑和混合润滑区间;温度升高还将导致膜厚曲线斜率增大,壁面温差是其诱因,通过数值模拟证实了壁面温差的影响;速度增加使接触区润滑状态向等黏度-刚性区间转化;温度和载荷使接触区润滑状态趋向于压黏-弹性区间.系统散热也会对油膜厚度产生影响.

基于导体温升原理的隔离开关发热改善方法研究

隔离开关发热一直是电力系统中难以解决的问题,当隔离开关温度较高时会使零部件温度升高,材料的物理、机械及电气性能逐渐下降,令材料老化速度加快,导致隔离开关出现工作故障,引发停电事故。为解决上述问题,分析了稳态热力系统的构成,推导隔离开关温升计算公式,结合接触电阻理论提出隔离开关发热改善方法,采用接触电阻等效并联方式,将接触电阻数值减小,从而提高隔离开关触头系统的通流能力,达到降低温升的目的,以4000 A钳夹式隔离开关为研究对象,进行了实例计算与验证,为实际工程解决隔离开关发热问题提供一定的参考。

基于QPSO-SVR算法的SF_(6)断路器触头烧蚀状态评估

高压SF6断路器弧触头的接触电阻和质量损失预测在断路器状态评估中起着重要作用。该文提出了一种基于量子粒子群优化和支持向量回归(quantum particle swarms optimization and support vector regression,QPSO-SVR)的方法,能够有效预测断路器弧触头在不同电弧电流条件下的接触电阻增量和质量损失,并结合实验数据获得了SVR算法的最佳训练参数。将该文方法与其他预测方法进行比较,QPSO-SVR方法对不同电弧电流条件下的实验数据表现出良好的预测能力。其中,对于接触电阻增量的预测相对误差为3.023%,而对于质量损失的预测相对误差为4.61%,均表现出较好的鲁棒性。最后将QPSO-SVR预测得到的质量损失和接触电阻增量以及监测到的累积电弧能量进行模糊逻辑推理,构建了基于QPSO-SVR算法的触头烧蚀状态评估系统,将触头烧蚀状态分为O级烧蚀、Ⅰ级烧蚀、Ⅱ级烧蚀、Ⅲ级烧蚀4等级,可为高压SF6断路器检修提供参考。