航空活塞发动机操控测试系统设计研究

为了提高航空活塞发动机的操控性能,采用虚拟仪器和PXI总线技术,并应用交流伺服电机和矢量控制算法,将传统发动机操控测试平台中各个独立的测试设备联系起来,设计了一套具有较高自动化程度的计算机辅助操控测试系统,该操控测试系统具有较高的测试精度、友好的人机交互、较强的扩展性以及较高的自动化程度,可以满足不同类型的航空活塞发动机的操控测试.

机器人作战平台操控终端系统的设计

针对机器人作战平台应用环境和作战特点,设计了机器人作战平台操控终端系统.应用单片机STC89C52RC和ADC0809构建控制指令采集系统的方法,以查询的方式将采集的控制指令通过串口以预定的通信协议传给单板机,并通过无线通信网络传给远端的机器人以实现其监控;同时操控终端系统接收机器人作战平台传感器采集的信息并显示.实验结果表明,利用操控终端操作者可对机器人作战平台进行实时、高效的操控和监视.

绞吸挖泥船无人操控自动挖泥系统研制

由于绞吸挖泥船无人操控自动挖泥系统涉及人工智能、流体力学、土力学、疏浚工艺、信号处理等多个学科,国内鲜见绞吸挖泥船无人操控自动挖泥系统研制的文献报道。本研究依托"天鲲号"无人操控自动挖泥系统的研制过程,对设计方案、控制功能、自动挖泥控制模式、挖泥系统模型、自动挖泥控制器等关键环节进行论述。采用现场试验的方法测试"天鲲号"无人操控自动挖泥系统运行效果,结果表明采用该无人操控自动挖泥系统可以实现稳产、高产的目的,与人工操控相比生产率提高15%以上。该无人操控自动挖泥系统提升了绞吸挖泥船自动化技术水平,开启了我国疏浚行业智能化新时代。

综合科考船操控支撑系统走缆方案优化

文章旨在研究海洋综合科考船操控支撑系统的缆绳走向对科考作业效率的影响,通过介绍典型操控支撑系统的组成与功能,研究不同综合科考船的绞车舱布局、操控支撑系统的走缆方案,得出一种较为优秀的缆索导向方案,总结出操控支撑系统走缆方案的优化设计要点。并且对比不同走缆方案的综合科考船在单航次下的使用情况,得出优化设计方案对科考作业效率的提升程度,为综合科考船操控支撑系统的走缆方案提供设计参考。

基于PHM技术的EOAS健康管理和故障预测系统研究

目前铁路电务部门主要依靠人工和机务故障报修系统的提报信息,对动车组司机操控信息分析系统(EOAS)车载设备进行维护,但无效及误报信息较多,无法满足当前车载设备的运用保障需求。针对该问题,基于故障预测与健康管理(PHM)技术,利用EOAS实时回传的车载设备运行数据和图像信息,通过通用故障建模、大数据技术、图像识别,智能分析运行状态变化,实现EOAS车载设备健康状态在线实时监测、关键部件的故障报警及预测、EOAS全生命周期的健康信息管理,为设备日常运用、维护和管理提供技术手段,实现精准和预防性维修,把当前被动的故障处理转变为故障预防管理。该系统投入运用后,对相关设备维护人员的知识储备、经验能力、熟练程度等要求大大降低;与原人工检测作业对比,检测耗时大幅缩短,有效提升电务部门的设备维护效率和质量,保障了车载设备的持续可靠运行。

Disturbance Observer Based Control for Four Wheel Steering Vehicles With Model Reference

This paper presents a disturbance observer based control strategy for four wheel steering systems in order to improve vehicle handling stability. By combination of feedforward control and feedback control, the front and rear wheel steering angles are controlled simultaneously to follow both the desired sideslip angle and the yaw rate of the reference vehicle model.A nonlinear three degree-of-freedom four wheel steering vehicle model containing lateral, yaw and roll motions is built up, which also takes the dynamic effects of crosswind into consideration.The disturbance observer based control method is provided to cope with ignored nonlinear dynamics and to handle exogenous disturbances. Finally, a simulation experiment is carried out,which shows that the proposed four wheel steering vehicle can guarantee handling stability and present strong robustness against external disturbances.

Design of motion control of dam safety inspection underwater vehicle

Plenty of dams in China are in danger while there are few effective methods for underwater dam inspections of hidden problems such as conduits,cracks and inanitions.The dam safety inspection remotely operated vehicle(DSIROV) is designed to solve these problems which can be equipped with many advanced sensors such as acoustical,optical and electrical sensors for underwater dam inspection.A least-square parameter estimation method is utilized to estimate the hydrodynamic coefficients of DSIROV,and a four degree-of-freedom(DOF) simulation system is constructed.The architecture of DSIROV's motion control system is introduced,which includes hardware and software structures.The hardware based on PC104 BUS,uses AMD ELAN520 as the controller's embedded CPU and all control modules work in VxWorks real-time operating system.Information flow of the motion system of DSIROV,automatic control of dam scanning and dead-reckoning algorithm for navigation are also discussed.The reliability of DSIROV's control system can be verified and the control system can fulfill the motion control mission because embankment checking can be demonstrated by the lake trials.

The Implementation of Decision Support System for Realizing Effective Usability of CNC Operator Knowledge Capturing System

This article describes experimental evaluations of the authors＇ previous studies on the knowledge-based system （KBS） aimed at capturing and managing CNC （Computer Numerical Control） operator knowledge. The proposed KBS follow thinking steps of CNC operators when they assess machining parameters described in the CAM （Computer Aided Manufacturing） file before proceeding to CNC machining processes. Also, the decision support system equipped with expert system （ES） has been proposed to realize efficient knowledge capturing system and effective usability of captured knowledge, and to recommend actions and decisions. From the viewpoint of providing useful information, the KBS should be aware of context or constraints in which the user has to deal with. In this study, the usefulness of DSS （Decision Support System） and ES is experimentally evaluated using real cases. Comparing the results of the testing participants with and without the DSS and ES, the effectiveness and usefulness were demonstrated. In addition, it was shown that the proposed system is also useful to narrow the discrepancies between CAM and CNC operators, focusing on CNC milling operations.

Operation Modes and Control Schemes for Internet-Based Teleoperation System with Time Delay

Teleoperation system plays an important role in executing task under hazard environment. As the computer networks such as the Internet are being used as the communication channel of teleoperation system, varying time delay causes the overall system unstable and reduces the performance of transparency. This paper proposed twelve operation modes with different control schemes for teleoperation on the Internet with time delay. And an optimal operation mode with control scheme was specified for teleoperation with time delay, based on the tradeoff between passivity and transparency properties. It experimentally confirmed the validity of the proposed optimal mode and control scheme by using a simple one DOF master-slave manipulator system.

Safety architecture of internet based multi-robot teleoperation system

Safety subsystem is one of the important parts in robot teleoperation system. In this paper, a safety architecture of safety subsystem in Internet based multi-operator-multi-robot (MOMR) teleoperation system is presented. The subsystem is divided into three layers in its logic architecture: interactive monitor layer, collaborative control layer and real-time control layer. The safety problems and the related strategy are clarified by detailed analysis of each layer and relationship among the layers. So we can obtain a high performance MOMR teleoperation system with multi-layer safety architecture.

Research on control technology of elderly-assistant & walking-assistant robot based on tactile-slip sensation

In this paper,according to the old people's physical characteristics and their technical requirements for comfort and mastery when operating the robot,a control approach driven by tactile and slip senses is investigated to control the elderly-assistant & walking-assistant robot. First,on the basis of the proposed driving control system program of tactile and slip,a detection system of tactile and slip senses are designed. Based on the tactile and slip feature representation and extraction,an improved classification and recognition method is proposed which combines K-nearest neighbor (KNN) algorithm and K-means algorithm. And then,a robot control system based on TMS320F2812 is designed in this paper,including its hardware and software design. Then,a moving control method including the fuzzy adaptive control algorithm is presented for the walking-assistant robot to realize some different moving properties. At last,by the experimental verification in the walking-assistant robot,the research results show that the tactile and slip senses detection and recognition method is effective,and the whole control system has good feasibility and adaptability.

Review of pre-processing technologies for ice cores

High-resolution ice core records covering long time spans enable reconstruction of the past climatic and environmental conditions allowing the investigation of the earth system's evolution. Preprocessing of ice cores has direct impacts on the data quality control for further analysis since the conventional ice core processing is time-consuming, produces qualitative data, leads to ice mass loss, and leads to risks of potential secondary pollution. However, over the past several decades, preprocessing of ice cores has received less attention than the improvement of ice drilling, the analytical methodology of various indices, and the researches on the climatic and environmental significance of ice core records. Therefore, this papers reviews the development of the processing for ice cores including framework, design as well as materials, analyzes the technical advantages and disadvantages of the different systems. In the past, continuous flowanalysis(CFA) has been successfully applied to process the polar ice cores. However, it is not suitable for ice cores outside polar region because of high level of particles, the memory effect between samples, and the filtration before injection. Ice core processing is a subtle and professional operation due to the fragility of the nonmetallic materials and the random distribution of particles and air bubbles in ice cores, which aggravates uncertainty in the measurements. The future developments of CFA are discussed in preprocessing, memory effect, challenge for brittle ice, coupling with real-time analysis and optimization of CFA in the field. Furthermore, non-polluting cutters with many different configurations could be designed to cut and scrape in multiple directions and to separate inner and outer portions of the core. This system also needs to be coupled with streamlined operation of packaging, coding, and stacking that can be implemented at high resolution and rate, avoiding manual intervention. At the same time, information of the longitudinal sections could be scanned andidentified, and then classified to obtain quantitative data. In addition, irregular ice volume and weight can also be obtained accurately. These improvements are recorded automatically via user-friendly interfaces. These innovations may be applied to other paleomedias with similar features and needs.

Decoupling Control of Lateral Dynamics for 4WS Vehicle

An four wheel steering (4WS) feedback control system that simultaneously achieves both body sideslip angle and yaw rate responses always desirable regardless of changes in vehicle dynamics. Quantitative feedback theory (QFT) is offered as the main tool for designing the control law. Inverted decoupling is also employed to make multivariable quantitative feedback design easier. Various nonlinear analyses are carried out and show that the proposed control system is a robust decoupling controller which not only makes body sideslip angle and yaw rate of the vehicle track the desired reference input signals respectively, but also satisfies the requirement of robustness for the control system. The results also indicate that the control system can make it available to realize ideal lateral steering dynamics tracking for vehicles.

Williams-Otto Plant Control Based on Production Planning Associated to Coordinated Decentralized Optimization and Plantwide Control Techniques

Manufacturing plants are increasingly complex and integrated, requiring control systems able to identify the interactions between the various operating units. Production planning and control design of a process are tools that, if combined, bring many economic benefits to the processes since they aim to identify and maintain optimal decision operations to a system. This work uses such integration between production planning and plantwide control to propose a control system for the Williams-Otto plant from the definition of the operating optimal point for coordinated decentralized optimization, in which the original optimization problem decomposition into smaller coordinated problems ensure that the found local optimum also meets the requirements of the global system. The results for decentralized optimization are satisfactory and very similar to the global optimum problem and to the control system response proposed based on the optimal obtained. It is effective taking smooth actions, working with （economic） optimal set points （economically） of operation. The unification of production planning techniques and plantwide control techniques is an effective tool for the control system design for entire plants.

Adaptive Optimal Control of a Heavy Lathe Operation

To create control laws of the cutting process on the heavy lathe, the temperature-force model of optimization of cutting conditions for turning was selected. The models to manage the process of cutting on heavy lathe in real time were created. It was found that the optimization of the cutting process must be carried out according to the criteria： productivity, cost and tool life. The hardware structure of the adaptive control system for heavy lathe was developed and its dynamic performance was investigated. The system provides function of the cutting speed of adaptive control and the possibility of compensation of linear, nonlinear and temperature-related inaccuracies. Research results were implemented in the prototype of adaptive control system for heavy lathe and the integral complex of optimal control of an adaptive technological system.

Study of a Single-Phase Series Active Power Filter with Hysteresis Control

The paper presents results from a study of a series-connected single-phase APF （active power filter） with a control system based on hysteresis control, both with and without limitation of the maximum switching frequency. The general purpose of the series APF is to eliminate the low order harmonics of the source （grid） voltage. The filter operation at limited and unlimited maximum switching frequency is explained and it is described using building blocks and time diagrams illustrating the tracking down of the reference curve. Waveforms from the computer simulation and waveforms from the experimental tests of the filter are presented also for the two situations. Operations at limited and unlimited maximum switching frequency are compared regarding the quality of the voltage across the load, the complexity of the implementation of the control system, and the electromagnetic compatibility. The investigation proved capability of the series APF to achieve its general purpose using the hysteresis control methods studied （limited and unlimited switching frequency）.

Prioritizing Alarms in Real-Time： Intelligent Alarms Advanced System

During the operation of complex process, such as oil production or refming, abnormal situations may occur, leading to an alarm flooding. Alarm flooding is the signalling of a large number of alarms in a few minutes, in such a way that it is impossible for the operator to attend to all alarms. On these occasions, it is usual that the operator leaves the alarm summary list and gets an analysis of the plant through the screens of the DCS （digital control system）, seeking to understand the situation. The alarm summary list ceases to be a useful tool. In such cases, the operator might have the aid of a filter that would present the highest priority alarms and other information associated with them, enabling him to gain a better knowledge of the situation. This paper describes the interface of a system aimed to help the operator to have a more comprehensive knowledge of the process （a better situational awareness） during process upsets that cause alarm flooding, recovering the utility of the alarm layer to the safety of industrial processes.

A Novel Robot Motion Planning Model based on Visual Navigation and Fuzzy Control

In this paper, we propose the novel robot motion planning model based on the visual navigation and fuzzy control. A robot operating system can be viewed as the mechanical energy converter from the joint space to the global operation space, and the fiexibility of the robot system refi ects the global transformation ability of the whole system. Fuzzy control technology is a kind of fuzzy science, artificial intelligence, knowledge engineering and other disciplines interdisciplinary fields, the theory of strong science and technology, to achieve this fuzzy control technology theory, known as the fuzzy control theory. Besides this, this paper integrates the visual navigation system to construct the better robust methodology which is meaningful.

影响在线评论有用性的因素研究

本研究主要关注系统操控、评论者社交网络以及评论集合特征三个要素对在线评论有用性的影响。通过太平洋电脑网3027个有效样本的实证分析发现,电商系统对评论的直接操控会显著的影响评论有用性。同时,除了评论者的社交网络数量,评论者的社交网络质量也可以作为评论有用性预测的指标。最后,考虑了评论的个体特征和评论集合特征之后,发现评论个体特征对评论有用性的影响会受到评论集合平衡性的调节。评论全面性对评论有用性的影响在积极的评论集合中更为重要。

2012春晚音响Hold不住的分析

基于现场扩声和电视直播音频系统的分工和连接模式,对2012年春节联欢晚会直播被质疑的音响问题,从无线返听系统的应用技能、混响的艺术处理和电声乐器的有效掌控等三方面进行了详细的剖析。