Non-contact angle measurement based on parallel multiplex laser feedback interferometry

We present a novel precise angle measurement scheme based on parallel multiplex laser feedback interferometry （PLFI）, which outputs two parallel laser beams and thus their displacement difference reflects the angle variation of the target. Due to its ultrahigh sensitivity to the feedback light, PLFI realizes the direct non-contact measurement of non- cooperative targets. Experimental results show that PLFI has an accuracy of 8＂ within a range of 1400＂. The yaw of a guide is also measured and the experimental results agree with those of the dual-frequency laser interferometer Agilent 5529A.

External-cavity birefringence feedback effects of microchip Nd:YAG laser and its application in angle measurement

External-cavity birefringence feedback effects of the microchip Nd：YAG laser are presented. When a birefringence element is placed in the external feedback cavity of the laser, two orthogonally polarized laser beams with a phase difference are output. The phase difference is twice as large as the phase retardation in the external cavity along the two orthogonal directions. The variable extra-cavity birefringence, caused by rotation of the external-cavity birefringenee element, results in tunable phase difference between the two orthogonally polarized beams. This means that the roll angle information has been translated to phase difference of two output laser beams. A theoretical analysis based on the Fabry-Perot cavity equivalent model and refractive index ellipsoid is presented, which is in good agreement with the experimental results. This phenomenon has potential applications for roll angle measurement.

Method for Latency Measurement of Visual Feedback-Based Master–Slave Minimally Invasive Surgical Robot

To measure the latency between human motion stimulation and stereo image display response in a visual feedback-based minimally invasive surgical(MIS) robotic system,a method was proposed by comparing the orientations of input and output events through image-processing technology. This method used a black bar to keep pace with the measured joint rotating at a number of speeds. During tests,an external camera was placed in front of the apparatus with a proper visual field,so that it can simultaneously view orientations of both bars fixed on the corresponding joints. After quantitatively analyzing the accuracy of the proposed measurement method,the method was applied to a visual feedback-based master–slave robotic system with two-degrees-of-freedom. Experimental results show that the latency of the overall system was approximately 250 ms,and the opposite clearance of the measured joint was in the range of 1.7°–1.9°.

PRECISE INTEGRATION METHOD FOR LQG OPTIMAL MEASUREMENT FEEDBACK CONTROL PROBLEM

By using the precise integration method, the numerical solution of linear quadratic Gaussian (LQG) optimal control problem was discussed. Based on the separation principle, the LQG central problem decomposes, or separates, into an optimal state-feedback control problem and an optimal state estimation problem. That is the off-line solution of two sets of Riccati differential equations and the on-line integration solution of the state vector from a set of time-variant differential equations. The present algorithms are not only appropriate to solve the two-point boundary-value problem and the corresponding Riccati differential equation, but also can be used to solve the estimated state from the time-variant differential equations. The high precision of precise integration is of advantage for the control and estimation. Numerical examples demonstrate the high precision and effectiveness of the algorithm.

The Approach of Compensation of Air Refractive Index in Thermal Expansion Coefficients Measurement Based on Laser Feedback Interferometry

We present the thermal expansion coefficient （TEC） measurement technology of compensating for the effect of variations in the refractive index based on a Nd： YA G laser feedback system, the beam frequency is shifted by a pair of aeousto-optic modulators and then the heterodyne phase measurement technique is used. The sample measured is placed in a muffle furnace with two coaxial holes opened on the opposite furnace walls. The measurement beams hit perpendicularly and coaxially on each surface of the sample. The reference beams hit on the reference mirror and the high-refiectivity mirror, respectively. By the heterodyne configuration and computing, the influences of the vibration, distortion of the sample supporter and the effect of variations in the refractive index are measured and largely minimized. For validation, the TECs of aluminum samples are determined in the temperature range of 29-748K, confirming not only the precision within 5 × 10-7 K-1 and the accuracy within 0.4% from 298K to 448K but also the high sensitivity non-contact measurement of the lower reflectivity surface induced by the sample oxidization from 448 K to 748 K.

Measurement of Refractive Index Ranging from 1.42847 to 2.48272 at 1064 nm Using a Quasi-Common-Path Laser Feedback System

Wavelength 1064 nm is one of the most widely used laser wavelengths in industries and science. The high-precision measurement of the refractive index of optical materials at 1064 nm is significant for improving the optical design. We study the direct measurement of refractive index at 1064nm of lasers, including cMcium fluoride （CaF2）, fused silica and zinc selenide （ZnSe）, whose refractive indices cover a large range from 1.42847 to 2.48272. The measurement system is built based on the quasi-common-path Nd：YAG laser feedback interferometry. The thickness can be measured simultaneously with the refractive index. The results demonstrate that the system has absolute uncertainties of ~10-5 and ~10-4 mm in refractive index and thickness measurement, respectively.

Output Feedback Control of Discrete-Time T-S Fuzzy Affine Systems Using Quantized Measurements

This paper investigates the problem of robust H!fixed-order dynamic output feedback( DOF)controller design for a class of Takagi-Sugeno( T-S) fuzzy affine systems using quantized measurements.Through a state-input augmentation method,some sufficient conditions for controller synthesis are developed based upon piecewise quadratic Lyapunov functions( PQLFs) in terms of LMIs. Two illustrative studies are conducted to verify the effectiveness of the proposed controller synthesis approach.

Markov Quantum Feedback Control Based on Homodyne Measurement of a Two-Qubit System

We consider the system consisting of two qubits collectively damped, with the output being unit-efficiency measured and subsequently fed back to control the system state. Our primary goal in this paper is （i） to solve the feedback-modified master equation, （ii） to demonstrate the ability of feedback control based on the solutions, and （iii） to pick out different steady states by choosing different driving strengths and feedback strengths to counteract the effects of both damping and the measurement back-action on the system. We further investigate some properties of the equilibrium steady state, its distribution probability and entanglement vs. the driving and feedback amplitudes. We find that in our feedback model feedback plays a negative role in producing entanglement.

Model-Following Designs Using Direct State Derivative Measurement Feedback in Novel Reciprocal State Space Form

The paper introduces effective and straightforward algorithms of both explicit and implicit model-following designs with state derivative measurement feedback in novel reciprocal state space form (RSS) to handle state derivative related performance output and state related performance output design cases. Applying proposed algorithms, no integrators are required. Consequently, implementation is simple and low-cost. Simulation has also been carried out to verify the proposed algorithms. Since acceleration can only be modeled as state derivative in state space form and micro-accelerometer which is the state derivative sensor is getting more and more attentions in many microelectromechanical and nanoelectromechanical systems (MEMS/NEMS) applications, the proposed algorithms are suitable for MEMS/NEMS systems installed with micro-accelerometers.

H∞ Measurement-feedback Control for Systems with Input and Measurement Delays

纸专注于与不仅输入延期而且测量延期为系统发现 H 测量反馈控制法律。和伪测量， Krein 空间被介绍以便在我们把原来的问题变换成最小化的以后，重新组织的技术能被利用。最后，我们得到需要的控制器并且看到分离原则也是适用的推迟系统到某程度。

Global output feedback control of feedforward nonlinear time-delay systems with unknown growth rate and unknown measurement sensitivity

This paper discusses the problem of global state regulation via output feedback for a class of feedforward nonlinear time-delay systems with unknown measurement sensitivity. Different from previous works, the nonlinear terms are dominated by upper triangular linear unmeasured (delayed) states multiplied by unknown growth rate. The unknown growth rate is composed of an unknown constant, a power function of output, and an input function. Furthermore, due to the measurement uncertainty of the system output, it is more difficult to solve this problem. It is proved that the presented output feedback controller can globally regulate all states of the nonlinear systems using the dynamic gain scaling technique and choosing the appropriate Lyapunov–Krasovskii functionals.

The Measurement and Control of Diameter in Large-Scale Part Processing

Based on laser-scanned measuring technology, a met ho d of on-line dynamic non-contact measurement and feedback control of processin g dimension, i.e. the double edges laser-scanned large diameter on-line dynami c measurement and control system is presented, which can be used to measure diam eter in large-scale machine part processing. In this paper, the working princip le, overall structure and microcomputer real-time control and data processing s ystem of the system are discussed in detail, the method of double edges scanned large diameter dimension measurement and control is theoretically analyzed, its possibility has been verified by experiments of lathing large diameters machine parts by a vertical lathe. The system adopts the measuring scheme of double edge s laser-scanned combined with grating displacement measurement. The two edges c haracteristic information of the measured diameter is given by the double edges laser-scanned measuring system, the non-contact measurement of large diameter dimension is realized to combine with the grating displacement measuring systems . The main controller gives out feedback control signal by means of measured res ults, and controls advance and retreat of lathe tool by the servo-control syste m of a vertical lathe to realize on-line dynamic non-contact measurement and c ontrol in processing.

A Self-Mixing Microvibration Measurement System of a π-Phase Shifted DFB Fiber Laser

Recently, with the rapid development of precision machining, microvibration measurement is required for the manufacturing and installation of parts and components. In this paper, a self-mixing microvibration measurement system of a π-phase shifted Distributed feedback (DFB) fiber laser is introduced. An all-fiberized configuration Er3+-Yb3+ co-doped DFB fiber laser was used as light source, in which an active π-phase shifted fiber Bragg grating (FBG) was wrote on Er3+-Yb3+ co-doped fiber. Using this, it can easily get a single-mode lasing with narrow linewidth. Experimental results demonstrate that the amplitude of vibration can be achieved down to λ/5 without any modulation parts while utilizing the reflecting mirror. It is in good agreement with the theoretical analysis and very helpful in proving sensitivity and stability of the measurement system. In addition, remote vibration measurement with a distance of 20 km is also realized with this system.

一维光学位置传感器融合的非接触多自由度位姿测量系统

为实现机器人末端位姿多自由度实时测量反馈,融合一维光学位置传感器(Position Sensitive Detector,PSD)建立了平面3自由度非接触测量系统,对其测量原理,信号处理电路,环境光干扰去除和非线性标定算法等进行研究。根据PSD传感器测量特性和平面3自由度测量要求设计了4-PSD测量系统,并建立测量系统数学模型。研究了PSD传感器的信号处理电路,通过运放和除法器实现了单个PSD的信号处理,结合单片机与A/DC采样电路,实现了上位机的高频率信号采集。对4-PSD测量系统进行预实验,为消除环境光干扰,通过激光调制和数字滤波等方法进行验证。最后,通过激光位移传感器标定4-PSD测量系统,介绍了4-PSD的标定步骤(原点、转角、长度和二阶非线性标定),测定了系统标定后的误差分布。该测量系统具有较高的测量频率(50 Hz)。标定实验结果表明:标定后的4-PSD测量系统在70 mm×70 mm内,测量精度平均为0.49 mm,比标定前降低了90%的误差,能满足大部分高速、高精度机器人末端的非接触式实时测量反馈需求。

激光回馈精密测量技术及应用

介绍了激光回馈干涉的理论模型,阐述了激光回馈测量灵敏度高、装置结构简单、可自准直、能够对非合作目标进行精密测量的技术特点。分析了激光回馈测量相较传统干涉测量的优势,探讨了激光回馈测量技术在工业和科研领域中的应用方向,包括位移、角度、振动、绝对距离测量等,指出利用频率复用、偏振复用、(准)共路等技术可提高回馈测量的实际应用性能。最后展望了激光回馈技术的发展前景,为推动回馈技术的广泛应用提供借鉴。

激光回馈双通道位移测量创新实验平台设计

针对激光回馈技术中多目标同步检测以提高测量效率的问题,提出了一种基于线性调频的测量通道拓展方法。在线性电流注入下,激光器输出的光频率近似线性变化;2个被测物体到激光器距离不同时,回馈信号的频谱中出现分别对应2个物体的独立谱峰,通过全相位频谱分析方法在2个谱峰处进行相位解算可以重构2个物体的运动曲线。基于Python语言构建的仿真模型和相应的双通道位移测量实验系统均证实了该方法的有效性,2个通道的位移测量相对误差小于5%。

精密加速度计组件自动装配及焊接系统

悬丝摆式加速度计广泛应用于航空、航天、惯性导航等领域,其装配质量对加速度测量精度有很大的影响,其关键组件的装配涉及位置和姿态的调整,同时悬丝在装配中需要控制张紧力并完成焊接。针对悬丝摆式加速度计组件的精密装配,研发了集成力、温度传感器和机器视觉的精密装配及焊接系统。采用相机配合转台实现待装配零件视觉测量,完成零件特征点的识别定位;利用精密滑台和转台调整待装配零件位姿;直线电机运动结合力反馈实现装配过程中零件间隙调整以及张紧力控制;开发专用焊接单元,实现在紧凑空间内对微小器件的自动温控焊接。试验结果表明,该系统能够完成加速度计组件自动装配及焊接,装配结果满足技术指标要求,焊点无虚焊,摆组件内边缘相对于磁钢边缘间隙偏差小于10μm,悬丝中心相对于加速度计底座地面位置精度优于20μm,悬丝张紧力偏差控制在±5 mN之内,能够达到产品装配质量要求。

在线同伴反馈不同干预策略对学习者批判性思维影响

研究在混合教学模式下,进行3轮干预策略的设计以促成有效同伴反馈,利用相似度重复检测算法SNM和百度AI短文本相似度接口进行无效反馈筛除,参照Murphy的批判性思维框架对干预后同伴反馈文本进行编码,采用认知网络分析法对不同干预策略下批判性思维的发展特征进行分析.研究结果显示:经过群体干预、个体评分干预和个体评语干预,学习者群体的批判性思维逐渐从辨识与理解向分析与评价发展;分组分析中3轮干预仅个体评语干预有显著性差异,其中:不同绩点水平的学习者中,高分组在批判性思维各要素之间的连接更为紧密,更加关注分析与评价能力的结合;不同性别的学习者中,男性组侧重理解和评价能力,女性组则更侧重辨识与分析能力.同时,研究从学习分析视角探究3类干预策略下,同伴反馈如何促进高阶批判性思维的发展.

宽范围微牛顿量级场致发射电推力器设计

针对空间引力波探测任务卫星无拖曳控制对微牛顿量级场发射电推力器的宽、稳、准、快、久指标要求,需突破宽范围可调与分辨率和推力噪声之间的相互限制,从场发射推力产生的原理出发,并利用高精度单摆对模型精度进行标定,建立了基于流量、电压主动调节策略的推力调控模型,结合调控分辨率与响应速度的需求,提出的反馈控制策略使推力器在更宽推力范围内维持低推力噪声水平。最后对研制的推力器样机开展了性能表征,实现了0.86~83.54μN、<0.1μN的推力分辨率、在毫赫兹频段<0.1μN/Hz^(1/2)的推力噪声和定工质流量下<10 ms的推力响应时间。

基于双闭环反馈的自动控制原理课程混合式教学探索与实践

自动控制原理是自动化专业的核心课程,具有概念抽象和公式繁多的特点,在一流专业建设背景下面临课时压缩导致学生难以有效掌握课程内容、传统教学方式难以有效培养学生学习能力的问题。该文在混合式教学模式下,借鉴课程中闭环反馈思想,提出基于知识学习内环和能力培养外环的教学框架,根据反馈结果构建以学生为中心的教学体系动态调整方案。通过以上措施,在有限学时下保质保量完成教学内容,实现能力培养和知识学习的同步推进,可以为相关课程的建设提供参考。