The Optimizing Model and Its Solution for Making Train Working Graph with Computer on Separative Division of Double－Track Lines

The authoros specialize in the field of optunization and automatic programme oftrain working graph. In this peper, at frist, a mixed 0-1 integer progranimingmodel about this problem for duuble-track lines is set up, then the principle andProcess of selution are stated, with an application exaiiiple put forward.

Vision Navigation Based PID Control for Line Tracking Robot

In a controlled indoor environment,line tracking has become the most practical and reliable navigation strategy for autonomous mobile robots.A line tracking robot is a self-mobile machine that can recognize and track a painted line on thefloor.In general,the path is set and can be visible,such as a black line on a white surface with high contrasting colors.The robot’s path is marked by a distinct line or track,which the robot follows to move.Several scientific contributions from the disciplines of vision and control have been made to mobile robot vision-based navigation.Localization,automated map generation,autonomous navigation and path tracking is all becoming more frequent in vision applications.A visual navigation line tracking robot should detect the line with a camera using an image processing technique.The paper focuses on combining computer vision techniques with a proportional-integral-derivative(PID)control-ler for automatic steering and speed control.A prototype line tracking robot is used to evaluate the proposed control strategy.

Electrical Tree Image Segmentation Using Hybrid Multi Scale Line Tracking Algorithm

Electrical trees are an aging mechanismmost associated with partial discharge(PD)activities in crosslinked polyethylene(XLPE)insulation of high-voltage(HV)cables.Characterization of electrical tree structures gained considerable attention from researchers since a deep understanding of the tree morphology is required to develop new insulation material.Two-dimensional(2D)optical microscopy is primarily used to examine tree structures and propagation shapes with image segmentation methods.However,since electrical trees can emerge in different shapes such as bush-type or branch-type,treeing images are complicated to segment due to manifestation of convoluted tree branches,leading to a high misclassification rate during segmentation.Therefore,this study proposed a new method for segmenting 2D electrical tree images based on the multi-scale line tracking algorithm(MSLTA)by integrating batch processing method.The proposed method,h-MSLTA aims to provide accurate segmentation of electrical tree images obtained over a period of tree propagation observation under optical microscopy.The initial phase involves XLPE sample preparation and treeing image acquisition under real-time microscopy observation.The treeing images are then sampled and binarized in pre-processing.In the next phase,segmentation of tree structures is performed using the h-MSLTA by utilizing batch processing in multiple instances of treeing duration.Finally,the comparative investigation has been conducted using standard performance assessment metrics,including accuracy,sensitivity,specificity,Dice coefficient and Matthew’s correlation coefficient(MCC).Based on segmentation performance evaluation against several established segmentation methods,h-MSLTA achieved better results of 95.43%accuracy,97.28%specificity,69.43%sensitivity rate with 23.38%and 24.16%average improvement in Dice coefficient and MCC score respectively over the original algorithm.In addition,h-MSLTA produced accurate measurement results of global tree parameters of length and width in comparison with the ground truth image.These results indicated that the proposed method had a solid performance in terms of segmenting electrical tree branches in 2D treeing images compared to other established techniques.

Synchronous line-tracking robots based on STM 32

A pair of synchronous line-tracking robots based on STM32 are designed. Each robot is actually a small intelligent car with seven reflective infrared photoelectric sensors ST188 installed in the front to track the line. Two rear wheels each driven by a moter are the driving wheels, while each rooter is driven by an H-bridge circuit. The running direction is con- trolled by the turning of a servo fastened to the front wheel and the adjustment of speed difference between the rear wheels. Besides, the light-adaptive line-tracking can be performed. The speeds of the motors are controlled by adjusting pulse-width modulation （PWM） values and an angular displacement transducer is used to detect the relative position of the cars in real time. Thus, the speeds of the cars can be adjusted in time so that the synchronism of the cars can be achieved. Through ex-periments, the fast and accurate synchronous tracking can be well realized.

基于粒子滤波的on-line boosting目标跟踪算法

基于Haar-like特征的on-line boosting跟踪算法(HBT)把目标跟踪看作是目标与背景的二分类问题,通过在候选区域搜索最大分类置信度的方法得到目标新的位置。但在获取最大置信度时选用的是区域穷举搜索法,当目标过大或者运动速度过快时,很难确保系统的实时性,且易造成跟踪丢失。本文将粒子滤波算法引入HBT目标跟踪框架中,通过建立目标运动模型,并把HBT目标分类置信度与粒子滤波的观测模型结合起来,提出了基于粒子滤波的on-line boosting目标跟踪算法(PFHBT)。与HBT算法相比,本文算法不仅加快了计算速度,而且很好地解决了目标速度过快造成跟踪丢失的问题,保证了系统的实时性和鲁棒性。

Track of Grain in Forced Vortex with Horizontal Axis

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一种基于Edline线特征的车道线识别算法

为了提升车道线检测的准确性和实时性,改良车道偏离预警系统的性能,提出了一种新的车道线识别算法。首先应用投影法对采集到的图像设立感兴趣区域,以此来减少图像中存在的干扰信息;其次应用一种改进后的自适应高斯滤波算法对采集所得图像进行平滑处理,减少图像中不必要的细节;最后采用边缘绘制算法进行边缘检测,在此基础上,提出一种线段检测算法——Edline算法提取边缘线,对检测到的直线段进行筛选和聚类。利用引用计数法对车道线进行跟踪和预测。结果表明,新算法的平均处理时间为17.1 ms,准确率为96.19%,将其应用在车道偏离预警系统中可以有效地提高预警效率,提升预警的准确性和响应速度。研究结果丰富了车道线识别理论,可为车道偏离预警系统的应用及基础研究提供参考。

基于改进On-line Boosting算法的视频目标跟踪

针对目前基于在线学习的On-line Boosting算法用于视频目标跟踪时对于快速移动的目标,容易引起跟踪漂移的问题,提出一种将Surf算法融合于On-line Boosting的Surf-Boosting视频目标跟踪算法。该算法在原先的On-line Boosting算法的基础上增加跟踪漂移判断,对已跟踪漂移的视频帧使用Surf算法进行目标定位,将Surf定位到的目标作为正样本放到后续On-line Boosting算法中继续跟踪学习。实验结果表明,该方法能够很好地抑制原有算法的跟踪漂移问题,在跟踪过程中的正确率达到98%,实现对快速移动目标的正确跟踪,并具有很好的鲁棒性。

NUMERICAL SIMULATION OF THE FLOW WITH CONTACT LINES

The paper proposes a physical model for the motion of the contact line and the gas-liquid interface. The local motion of the contact line at the solid wall is assumed and the interface between gas and liquid is traced by a level function. The finite volume method and staggered grids are used to solve the governing equation numerically. The motion of the water column in a vertical pipe is computed and the results are in good agreement with experimental data.

基于自适应滑模的欠驱动无人艇轨迹跟踪控制算法

针对欠驱动水面无人艇在航行过程中存在的海洋环境干扰、数学模型参数不确定、执行器故障等问题,提出了一种基于扰动观测器与神经网络技术的自适应滑模轨迹跟踪控制算法;在欠驱动无人艇的三自由度模型基础上,结合视线制导律,提出了一种新的轨迹跟踪制导策略;采用自适应滑模控制技术设计了欠驱动无人艇的轨迹跟踪控制器,有效地抑制了执行器衰减故障对无人艇控制系统产生的影响;同时运用了非线性扰动观测器和自适应径向基函数神经网络分别对无人艇受到的外界时变干扰和模型参数不确定性进行补偿和拟合,提高了无人艇控制系统的鲁棒性;基于Lyapunov定理证明了所设计的控制算法的稳定性,并在MATLAB中进行了仿真测试;仿真结果表明,所提出的轨迹跟踪控制算法可以在较为复杂的环境下实现对欠驱动无人艇的精准控制;相较于对比算法,欠驱动无人艇在文章算法下的位置平均跟踪误差减小了80%以上,具备较高的稳定性和容错能力。

Study on intelligent welding mobile robot with the function of auto-searching weld line

The development of welding robots suitable for specially unstructured working enviroments has been become an important development direction of industrial robot application because large-scale welding structures have been used more and more widely in modern industry. In this paper, an intelligent mobile robot for welding of ship deck with the function of autosearching weld line was presented. A wheeled motion mechanism and a cross adjustment slider are used for the welding robot body. A sensing system based on laser-PSD （position sensitive detector） displacement sensor was developed to obtain two dimensional deviation signals during seam tracking. A full-digital control system based on DSP and CPLD has also been realized to implement complex and high-performance control algorithms. Furthermore, the system has still the function of auto-searching weld line according to the characteristics information of weld groove and adjusting posture itself to the desired status preparing for welding. The experiment of auto-searching welding line shows that the robot has high tracing accuracy, and can satisfy the requirement of practical welding project.

Research and Application for the Regularity of Distribution about Curvature Radius and Curvature Center of the Linkage Point Track in a Link Mechanism

It is illustrated that there exists an inflection circle on the linkage rigid body by the principle of relative motion. Confirmed methods of the inflection circle, curvature radius and curvature center of the point track on the linkage rigid body are given in the case of the different contact type of move instantaneous center line and static instantaneous center line. The regularity of distribution of curvature radius and curvature center of the point track is researched. The identification methods called determination parameters and auxiliary vertical line of the diameter and direction of the inflection circle in the four bar mechanism are pointed out. A design method of the crane hoisting mechanism is discussed in the end of this paper.

基于模糊快速滑模的农用牵引车辆直线路径跟踪控制

为解决无人驾驶牵引式农机在非结构化环境中作业时直线跟踪精度低、上线速度慢、抗干扰能力差等问题,提出了一种基于模糊快速滑模控制的农用牵引式车辆直线路径跟踪控制方法。首先利用车辆运动学模型与参考路径建立牵引车辆直线路径跟踪误差模型,并提出一种基于模糊参数整定的快速滑模直线路径跟踪方法,解决了滑模控制算法的控制器抖振与机具快速上线问题。通过Lyapunov稳定性分析可知,所设计控制方法可保证牵引机具跟踪参考路径,同时铰接角收敛至零。最后,基于Simulink仿真与实车试验对该控制方法的有效性与优越性进行测试。田间实车试验表明,使用本文控制方法时,拖车和挂车最大路径跟踪横向误差分别为0.11、0.12 m,拖车和挂车跟踪误差方差分别为0.0013、0.0015 m^(2);相较于传统基于等速趋近律设计的滑模控制器,上线时间提升约58%,最大跟踪误差减小约66%。

多线并行轨道电路电容耦合干扰机理研究

高速铁路车站并行股道多,应用场景复杂,在三线并行情况下,中间股道易受两旁线路的电磁干扰影响。当2条线路均与中间股道同向时,中间股道所受电容耦合干扰为2条线路干扰之和,且邻线耦合电容越大,干扰亦越强。为减少多线并行邻线间的电容耦合干扰,可采取改变线路相对布局、采用屏蔽等设计措施,确保高速铁路车站轨道电路工作的稳定性和可靠性。

基于离散元的重载铁路有砟轨道阻力特性研究

研究目的:有砟轨道在重载铁路中广泛采用,随着服役时间的增加,在列车荷载反复作用下,道床性能会随之变化,线路阻力呈现动态发展的时变特性。作为求解梁轨相互作用的关键,准确合理地选取线路纵向阻力是保证梁轨相互作用计算准确的前提,关系梁轨系统的正常使用与安全运营。研究结论:(1)颗粒级配由粗到细,纵向线阻力逐渐减小;摩擦系数由小到大,纵向线阻力稍微增加;(2)结合不同级配建立的道床模型模拟出的纵向线阻力-位移曲线,获得纵向线阻力动态演化模型,可知线路纵向阻力由新建线路的阻力29.7 kN/(m·线)演化到破碎充分时的23.6 kN/(m·线),退化幅度约为20.5%;(3)本研究成果可为开展全服役期内重载铁路的梁轨相互作用等相关研究提供关键参数。

应用于运动平台光电跟瞄系统的惯性参考单元研究综述

目标的变化和任务的拓展对光电跟瞄系统提出了快速机动的要求,从地基平台到车载、船载、机载、星载等运动平台是光电跟瞄系统的重要发展趋势。基于惯性参考单元(Inertial Reference Unit,IRU)的视轴稳定方式是克服运动平台高频扰动,实现光电跟瞄系统微弧度甚至亚微弧度级跟瞄的主要技术手段。针对运动平台光电跟瞄系统精确指向对载体基座扰动抑制的需求,分析和对比了IRU的各种技术方案,特别介绍了利用低噪声、宽频带惯性传感器敏感角扰动,并通过反馈控制实现视轴惯性稳定的系统方案。从此类IRU系统的工作原理出发,阐述了系统的两种工作模式及功能特点,建立了系统数学模型。然后,介绍了IRU的国内外研究进展及发展方向,指出惯性传感、支承结构和控制系统是决定IRU稳定能力的关键因素,梳理了三项关键技术的研究动态。最后,总结了IRU的空间应用情况,并结合目前的应用需求对其未来应用领域进行了探讨。

无人机技术在公共交通领域的研究

针对无人机执行电力巡线任务时需要进行人工飞行操控,且无人机控制过程繁琐,巡线效率不高的问题,本文无人机应用在公共交通领域,研究无人机巡线航迹规划方法及其系统,实现无人机自动巡线。本文阐述的无人机巡线航迹规划方法及其系统,效果较好,可以对无人机巡线过程中的飞行轨迹进行自动规划,无需人工进行飞行操控,进而可以大幅度提高电力设施巡线任务的工作效率,降低执行该任务的人员成本。巡线航迹规划方法能够对巡视过程中不同类型的电力设施采用不同的巡视策略。实现对目标区域内所有电力设施的全覆盖,准确全面完成所有目标区域的巡视任务,对所有电力设备进行全方位巡查和准确采像,不留监视死角。规划的路径不仅实现了对整个目标巡线区域的全方位巡视,还设计出了最佳的飞行路径,飞行路径的航程较短,这样可以有效缩短巡视时间,提高巡线效率,也具有更好的节能环保效益。

基于虚拟编组技术的单线重载铁路通过能力计算方法研究

针对我国现阶段单线重载铁路能力紧张问题,提出应用虚拟编组技术从运输组织层面提升运输能力。对虚拟编组技术基本概念进行介绍,细致分析了虚拟编组技术下列车追踪运行的全过程,将其分为4种状态,并分别给出各状态下追踪间隔计算方法。通过分析虚拟编组技术应用下单线重载线路列车在站作业及会让方式,给出区间运行图周期计算通式,构建虚拟编组下单线重载铁路最小运行图周期计算模型,并将其改写为混合整数线性规划模型。模型结构简单,且规模随区间数多项式有界,可直接采用商业优化软件求解。选取1条实际运营线路进行案例分析,计算结果显示,虚拟编组技术下其通过能力可提升55%,表明计算模型有效可靠,且虚拟编组技术的应用对单线重载铁路能力提升显著。

焊接机器人管-管相贯线焊接工艺试验研究

相贯线焊缝是工业生产中典型的焊缝形式之一。相贯线是复杂的空间曲线,采用手工焊接的方法很难保证焊接质量,而利用机器人焊接相贯线焊缝可以大大提高焊接效率和产品质量的稳定性。

齿轨铁路桥上板式无砟轨道纵向力学特性研究

为研究齿轨铁路桥上铺设CRTSⅢ型板式无砟轨道的纵向力学特性,基于有限元理论和混凝土塑性损伤理论,建立齿轨-无砟轨道-桥梁精细化分析模型,分析不同坡度下轨道结构应力变化和变形规律。研究结果表明:上坡侧的轨道板端位置为荷载最不利位置。可在小于150‰坡度的齿轨铁路上直接应用CRTSⅢ型板式无砟轨道,坡度大于150‰时轨道板产生局部损伤;整体温度变化量为15~25℃时轨道板损伤较大。轨道纵向位移增长率随坡度增加逐渐减小,底座板位移增长率最大,150‰坡度时轨道最大位移为1.6 mm左右;底座板凹槽最大压缩量为0.52 mm,为增强凹槽限位能力,可调整凹槽上、下坡侧的垫层刚度。轨道与桥面层间约束不足,为相对不稳定层面,应采取增大桥面板凿毛程度、调整预埋钢筋规格等纵向稳定措施。