Single-axis rotation technique is often used in the marine laser inertial navigation system so as to modulate the constant biases of non-axial gyroscopes and accelerometers to attain better navigation performance.Howe...Single-axis rotation technique is often used in the marine laser inertial navigation system so as to modulate the constant biases of non-axial gyroscopes and accelerometers to attain better navigation performance.However,two significant accelerometer nonlinear errors need to be attacked to improve the modulation effect.Firstly,the asymmetry scale factor inaccuracy enlarges the errors of frequent zero-cross oscillating specific force measured by non-axial accelerometers.Secondly,the traditional linear model of accelerometers can hardly measure the continued or intermittent acceleration accurately.These two nonlinear errors degrade the high-precision specific force measurement and the calibration of nonlinear coefficients because triaxial accelerometers is urgent for the marine navigation.Based on the digital signal sampling property,the square coefficients and cross-coupling coefficients of accelerometers are considered.Meanwhile,the asymmetry scale factors are considered in the I-F conversion unit.Thus,a nonlinear model of specific force measurement is established compared to the linear model.Based on the three-axis turntable,the triaxial gyroscopes are utilized to measure the specific force observation for triaxial accelerometers.Considering the nonlinear combination,the standard calibration parameters and asymmetry factors are separately estimated by a two-step iterative identification procedure.Besides,an efficient specific force calculation model is approximately derived to reduce the real-time computation cost.Simulation results illustrate the sufficient estimation accuracy of nonlinear coefficients.The experiments demonstrate that the nonlinear model shows much higher accuracy than the linear model in both the gravimetry and sway navigation validations.展开更多
An angle trajectory tracking of a 3-DOF （Degree Of Freedom） pneumatic motion platform by the NI Compact RIO control system was investigated. In this study, the positions of moving platform are changed by extension o...An angle trajectory tracking of a 3-DOF （Degree Of Freedom） pneumatic motion platform by the NI Compact RIO control system was investigated. In this study, the positions of moving platform are changed by extension or shortening of the three pneumatic cylinders. The response of pneumatic cylinder is relatively slow for motor actuator and can get a good single-axis trajectory control by traditional P controller, but the trajectory tracking of platform has a delay phenomenon for angle instantly larger change. To improve this situation in this study, Fuzzy system is used in the trajectory pre-compensation. By the angle changes and the angle rates of change in Fuzzy systems, the value of a pre-compensation output and each axis value are calculated using the Jacobian matrix after compensation in each axis. Through experiments, this Fuzzy pre-compensation method is proved to be able to improve the delay situation of angle trajectory tracking.展开更多
Stability assessment of slopes has historically been performed assuming soils to be homogeneous in two-dimensional(2D) cases. In real cases, soils are usually inhomogeneous, and each slope collapse indicates a three-d...Stability assessment of slopes has historically been performed assuming soils to be homogeneous in two-dimensional(2D) cases. In real cases, soils are usually inhomogeneous, and each slope collapse indicates a three-dimensional(3D) nature. Based on a 3D rotational failure mechanism, this work develops an approach to account for the impact of the vertical strength inhomogeneity on the 3D stability of stepped slopes. Seismic actions are taken into account by introducing the concept of a horizontal seismic coefficient. An upper-bound expression for stability factors is derived in the light of the kinematic approach, and the most critical solution is obtained from an optimization programming. In comparison with the previously published solutions, the validity of the proposed method is shown. A sensitivity analysis is carried out to discuss parametric effects on the stability of 3D stepped inhomogeneous slopes.展开更多
Maceral composition and aromatic compounds were determined on columnsamples to study the peat-forming environments of Permian coal seam 2 and Carboniferouscoal seam 9^(-2) from the Xingtai coalfield,China.The macerals...Maceral composition and aromatic compounds were determined on columnsamples to study the peat-forming environments of Permian coal seam 2 and Carboniferouscoal seam 9^(-2) from the Xingtai coalfield,China.The macerals were dominated by inertinitein seam 2 and by vitrinite in seam 9^(-2).Three maceral groups were selected as indicatorsof peat-forming environments.Two triangle diagrams were drawn based on the indicatorsto explicate the peat-forming environments of permian seam 2 and Carboniferousseam 9^(-2).The results indicate that the peat of carboniferous seam 9^(-2) formed dominantlyin wet swamps,whereas the peat of Permian seam 2 formed dominantly in dry swampsand open moor environments.展开更多
This paper deals with the computer modeling of structures starting from a point cloud. The CCTV （China Central Television） tower headquarters is the case for study because the shape of this building is non-stellar, ...This paper deals with the computer modeling of structures starting from a point cloud. The CCTV （China Central Television） tower headquarters is the case for study because the shape of this building is non-stellar, concave and multi-connected. It is composed of sowns and chains. The sown is the representation of a horizontal plane formed by dense points. The chain is a planar path modeled by rare points. The CCTV structure is defined only by the three orthogonal Cartesian coordinates of the points. The proposed computer modeling uses a sequence of procedures and the desired outputted 3D model is consistent. The first procedure is devoted to attributing points to their voxel and to estimating three values needed afterwards. The second procedure is devoted to analyzing clusters vertically and horizontally, to preliminarily distinguishing chains from sowns and to generating relational matching. The third procedure is devoted to building closed paths between all chains and all their projections on sowns. The fourth procedure is devoted to connecting points with triangles. The fifth procedure, still being implemented, is devoted to interpolating triangles with triangular splines. The results show it is possible to achieve the 3D model using the above mentioned procedures. These procedures are written, implemented and tested and they form a library of people＇s own software. The code is written using Matlab. It is not possible to obtain the required 3D model if the procedures are applied in the wrong order or one step is skipped. To conclude, it is possible to obtain the computer model of the CCTV using the provided sequence of procedures.展开更多
This article proposes a relay camera videometrics based method to convert an unstable measuring platform to a static reference to solve the problems of large error or invalidation caused by measuring platform instabil...This article proposes a relay camera videometrics based method to convert an unstable measuring platform to a static reference to solve the problems of large error or invalidation caused by measuring platform instability in photogrammetric and videometric measurements.The method installs a relay camera on the unstable platform and captures images of a reference marker fixed on a static reference or vice versa to resolve the 3D movement of the unstable platform relative to the static reference,based on which it corrects the error of the measured results and thus eliminating the influence of the platform movement.It finds new and important applications for videometrics by making high-precision dynamic measurement possible on unstable platforms.Verification experiments and numerical simulations have proven its validity and practicability.展开更多
The cross-coupled control(CCC)is widely applied to reduce contour errors in contour-following applications.In such situation,the contour error estimation plays an important role.Traditionally,the linear or second-orde...The cross-coupled control(CCC)is widely applied to reduce contour errors in contour-following applications.In such situation,the contour error estimation plays an important role.Traditionally,the linear or second-order estimation approach is adopted for biaxial motion systems,whereas only linear approach is available for triaxial systems.In this paper,the second-order contour error estimation,which was presented in our previous work,is utilized to determine the variable CCC gains for motion control systems with three axes.An integrated stable motion control strategy,which combines the feedforward,feedback and CCC controllers,is developed for multiaxis CNC systems.Experimental results on a triaxial platform indicate that the CCC scheme based on the second-order estimation,compared with that based on the linear one,significantly reduces the contour error even in the conditions of high tracking feedrate and small radius of curvature.展开更多
基金Project(61174002)supported by the National Natural Science Foundation of ChinaProject(200897)supported by the Foundation of National Excellent Doctoral Dissertation of PR China+1 种基金Project(NCET-10-0900)supported by the Program for New Century ExcellentTalents in University,ChinaProject(131061)supported by the Fok Ying Tung Education Foundation,China
文摘Single-axis rotation technique is often used in the marine laser inertial navigation system so as to modulate the constant biases of non-axial gyroscopes and accelerometers to attain better navigation performance.However,two significant accelerometer nonlinear errors need to be attacked to improve the modulation effect.Firstly,the asymmetry scale factor inaccuracy enlarges the errors of frequent zero-cross oscillating specific force measured by non-axial accelerometers.Secondly,the traditional linear model of accelerometers can hardly measure the continued or intermittent acceleration accurately.These two nonlinear errors degrade the high-precision specific force measurement and the calibration of nonlinear coefficients because triaxial accelerometers is urgent for the marine navigation.Based on the digital signal sampling property,the square coefficients and cross-coupling coefficients of accelerometers are considered.Meanwhile,the asymmetry scale factors are considered in the I-F conversion unit.Thus,a nonlinear model of specific force measurement is established compared to the linear model.Based on the three-axis turntable,the triaxial gyroscopes are utilized to measure the specific force observation for triaxial accelerometers.Considering the nonlinear combination,the standard calibration parameters and asymmetry factors are separately estimated by a two-step iterative identification procedure.Besides,an efficient specific force calculation model is approximately derived to reduce the real-time computation cost.Simulation results illustrate the sufficient estimation accuracy of nonlinear coefficients.The experiments demonstrate that the nonlinear model shows much higher accuracy than the linear model in both the gravimetry and sway navigation validations.
文摘An angle trajectory tracking of a 3-DOF （Degree Of Freedom） pneumatic motion platform by the NI Compact RIO control system was investigated. In this study, the positions of moving platform are changed by extension or shortening of the three pneumatic cylinders. The response of pneumatic cylinder is relatively slow for motor actuator and can get a good single-axis trajectory control by traditional P controller, but the trajectory tracking of platform has a delay phenomenon for angle instantly larger change. To improve this situation in this study, Fuzzy system is used in the trajectory pre-compensation. By the angle changes and the angle rates of change in Fuzzy systems, the value of a pre-compensation output and each axis value are calculated using the Jacobian matrix after compensation in each axis. Through experiments, this Fuzzy pre-compensation method is proved to be able to improve the delay situation of angle trajectory tracking.
基金Project(51378510)supported by the National Natural Science Foundation of China
文摘Stability assessment of slopes has historically been performed assuming soils to be homogeneous in two-dimensional(2D) cases. In real cases, soils are usually inhomogeneous, and each slope collapse indicates a three-dimensional(3D) nature. Based on a 3D rotational failure mechanism, this work develops an approach to account for the impact of the vertical strength inhomogeneity on the 3D stability of stepped slopes. Seismic actions are taken into account by introducing the concept of a horizontal seismic coefficient. An upper-bound expression for stability factors is derived in the light of the kinematic approach, and the most critical solution is obtained from an optimization programming. In comparison with the previously published solutions, the validity of the proposed method is shown. A sensitivity analysis is carried out to discuss parametric effects on the stability of 3D stepped inhomogeneous slopes.
基金Supported by the National Natural Science Foundation of China(40773040)the National Basic Research Program of China (2003CB214607)
文摘Maceral composition and aromatic compounds were determined on columnsamples to study the peat-forming environments of Permian coal seam 2 and Carboniferouscoal seam 9^(-2) from the Xingtai coalfield,China.The macerals were dominated by inertinitein seam 2 and by vitrinite in seam 9^(-2).Three maceral groups were selected as indicatorsof peat-forming environments.Two triangle diagrams were drawn based on the indicatorsto explicate the peat-forming environments of permian seam 2 and Carboniferousseam 9^(-2).The results indicate that the peat of carboniferous seam 9^(-2) formed dominantlyin wet swamps,whereas the peat of Permian seam 2 formed dominantly in dry swampsand open moor environments.
文摘This paper deals with the computer modeling of structures starting from a point cloud. The CCTV （China Central Television） tower headquarters is the case for study because the shape of this building is non-stellar, concave and multi-connected. It is composed of sowns and chains. The sown is the representation of a horizontal plane formed by dense points. The chain is a planar path modeled by rare points. The CCTV structure is defined only by the three orthogonal Cartesian coordinates of the points. The proposed computer modeling uses a sequence of procedures and the desired outputted 3D model is consistent. The first procedure is devoted to attributing points to their voxel and to estimating three values needed afterwards. The second procedure is devoted to analyzing clusters vertically and horizontally, to preliminarily distinguishing chains from sowns and to generating relational matching. The third procedure is devoted to building closed paths between all chains and all their projections on sowns. The fourth procedure is devoted to connecting points with triangles. The fifth procedure, still being implemented, is devoted to interpolating triangles with triangular splines. The results show it is possible to achieve the 3D model using the above mentioned procedures. These procedures are written, implemented and tested and they form a library of people＇s own software. The code is written using Matlab. It is not possible to obtain the required 3D model if the procedures are applied in the wrong order or one step is skipped. To conclude, it is possible to obtain the computer model of the CCTV using the provided sequence of procedures.
基金supported by the National Natural Science Foundation of China (Grant Nos.11072263,10727202)
文摘This article proposes a relay camera videometrics based method to convert an unstable measuring platform to a static reference to solve the problems of large error or invalidation caused by measuring platform instability in photogrammetric and videometric measurements.The method installs a relay camera on the unstable platform and captures images of a reference marker fixed on a static reference or vice versa to resolve the 3D movement of the unstable platform relative to the static reference,based on which it corrects the error of the measured results and thus eliminating the influence of the platform movement.It finds new and important applications for videometrics by making high-precision dynamic measurement possible on unstable platforms.Verification experiments and numerical simulations have proven its validity and practicability.
基金supported by the National Natural Science Foundation of China(Grant Nos.51325502 and 51405175)the National Basic Research Program of China("973"Project)(Grant No.2011CB706804)the National Science and Technology Major Projects of China(Grant No.2012ZX04001-012-01-05)
文摘The cross-coupled control(CCC)is widely applied to reduce contour errors in contour-following applications.In such situation,the contour error estimation plays an important role.Traditionally,the linear or second-order estimation approach is adopted for biaxial motion systems,whereas only linear approach is available for triaxial systems.In this paper,the second-order contour error estimation,which was presented in our previous work,is utilized to determine the variable CCC gains for motion control systems with three axes.An integrated stable motion control strategy,which combines the feedforward,feedback and CCC controllers,is developed for multiaxis CNC systems.Experimental results on a triaxial platform indicate that the CCC scheme based on the second-order estimation,compared with that based on the linear one,significantly reduces the contour error even in the conditions of high tracking feedrate and small radius of curvature.
