Wave Motion Compensation Scheme and Its Model Tests for the Salvage of An Ancient Sunken Boat

The application of the vertical hoisting jack and wave motion compensation techniques to the salvage of an ancient sunken boat is introduced. The boat is wooden, loaded with cultural relics. It has been immersed at the bottom of the South China Sea for more than 800 years. In order to protect the structure of the boat and the cultural relics inside to the largest extent, an open caisson is used to hold the sunken beat and the silts around before they are raised from the seabed all together as a whole. In the paper, first, the seakeeping model test of the system of the salvage barge and the open caisson is done to determine some important wave response parameters. And then a further experimental study of the ap- plication of the vertical hoisting jack and wave motion compensation scheme to the salvage of the sunken boat is carried out. In the model tests, the techniques of the integrative mechanic-electronic-hydraulic control, wave motion forecast and wave motion compensation are used to minimize the heave motion of the open caisson. The results of the model tests show that the heave motion of the open caisson can be reduced effectively by the use of the present method.

Study on topographic compensation model of the Okinawa Trough Ⅱ. Geological interpretation of isostatic response function of the Okinawa Trough

Based on regional compensation model and experimental isostasy, the isostatic response function of the Okinawa Trough is calculated by using gravity and topographic data. The results are shown as follows: the effective elastic thickness of the plate and compensation depth in the southern Okinawa Trough is obviously greater than those in the middle Okinawa Trough. In reference with other geological and geophysical data, the differences between the two portions are explained to be caused mainly by their differences in temperature of the lithosphere and the compensation mechanism.

Modeling Approach of Regression Orthogonal Experiment Design for Thermal Error Compensation of CNC Turning Center

The thermal induced errors can account for as much as 70% of the dimensional errors on a workpiece. Accurate modeling of errors is an essential part of error compensation. Base on analyzing the existing approaches of the thermal error modeling for machine tools, a new approach of regression orthogonal design is proposed, which combines the statistic theory with machine structures, surrounding condition, engineering judgements, and experience in modeling. A whole computation and analysis procedure is given. Therefore, the model got from this method are more robust and practical than those got from the present method that depends on the modeling data completely. At last more than 100 applications of CNC turning center with only one thermal error model are given. The cutting diameter variation reduces from more than 35 μm to about 12 μm with the orthogonal regression modeling and compensation of thermal error.

Adaptive robust control for electrical cylinder with friction compensation usingmodified LuGre model

The position tracking control problem of an electrical cylinder in the presence of dynamic friction nonlinearities in its transmission process is addressed in this paper. First, a torque decou- piing approach is proposed to formulate the dynamic model. Secondly, to compensate the friction in the case of servo motion, a modified LuGre model is designed to make a continuous transition be- tween a static model at a high speed and a LuGre model at a low speed to avoid instability due to dis- cretization with a finite sampling rate. To accelerate the speed of estimating time-varying parame- ters, a fast adaption law is proposed by designing an attraction domain around a rough value related to the load force. Finally, a discontinuous projection based adaptive robust controller is synthesized to effectively handle parametric uncertainties for ensuring a guaranteed robust performance. A Lya- punov stability analysis demonstrates that all signals including tracking errors have the guaranteed convergent and bounded performance. Extensive comparative simulations with sinusoidal and point- point tracks are obtained respectively in low and high speeds. The results show the effectiveness and the achievable control performance of the proposed control strategy.

Parallel Distributed Compensation/H∞Control of Lane‑keeping System Based on the Takagi‑Sugeno Fuzzy Model

Current research on lane-keeping systems ignores the effect of the driver and external resistance on the accuracy of tracking the lane centerline.To reduce the lateral deviation of the vehicle,a lane-keeping control method based on the fuzzy Takagi-Sugeno(T-S)model is proposed.The method adopts a driver model based on near and far visual angles,and a driver-road-vehicle closed-loop model based on longitudinal nonlinear velocity variation,obtaining the expected assist torque with a robust H∞controller which is designed based on parallel distributed compensation and linear matrix inequality.Considering the external influences of tire adhesion and aligning torque when the vehicle is steering,a feedforward compensation control is designed.The electric power steering system is adopted as the actuator for lane-keeping,and active steering redressing is realized by a control motor.Simulation results based on Carsim/Simulink and real vehicle test results demonstrate that the method helps to maintain the vehicle in the lane centerline and ensures driving safety.

Case study on the mechanics of NPR anchor cable compensation for large deformation tunnel in soft rock in the Transverse Mountain area,China

A study was conducted to analyze the deformation mechanism of strongly weathered quartz schist in the Daliangshan Tunnel,located in the western Transverse Mountain area.A large deformation problem was experienced during the tunnel construction.To mitigate this problem,a support system was designed incorporating negative Poisson ratio(NPR)anchor cables with negative Poisson ratio effect.Physical model experiments,field experiments,and numerical simulation experiments were conducted to investigate the compensation mechanical behavior of NPR anchor cables.The large deformations of soft rocks in the Daliangshan Tunnel are caused by a high ground stress,a high degree of joint fracture development,and a high degree of surrounding rock fragmentation.A compensation mechanics support system combining long and short NPR anchor cables was suggested to provide sufficient counter-support force(approximately 350 kN)for the surrounding rock inside the tunnel.Comparing the NPR anchor cable support system with the original support system used in the Daliangshan tunnel showed that an NPR anchor cable support system,combining cables of 6.3 m and 10.3 m in length,effectively prevented convergence of surrounding rock deformation,and the integrated settlement convergence value remained below 300 mm.This study provides an effective scientific basis for resolving large deformation problems in deeply buried soft rocks in western transverse mountain areas.

Establishment Method of Shape Standard Curve Based on Stepwise Optimization and Its Compensation Models

There are very few researches on the shape standard curve currently,and they merely remain on the level of description of the general concept and production experiences,lacking of the in-depth theoretical analysis,and the concrete principle,method and steps for determining the shape standard curve are not put forward,therefore,they are not applicable in industrial production.This is the weakest spot in the research on the basic shape theory.In this paper,the basic shape standard curve and the transverse distribution curve of the exit thickness are attained with stepwise optimization,which is based on the theoretical calculation method of the shape standard curve of strip mills proposed by authors.By calculating the shape discrimination model and the shape forecast model separately,the simultaneous iterative calculation by the previous method is avoided,and the speed and stability of calculation are improved.The compensation models of the transverse temperature difference of the strip,the shape detection roller deflection and the shape of the strip coil are established,respectively,meantime,the basic shape standard curves are compensated,and the relatively perfect theoretical establishment method of the shape standard curve is formed.The simulation and calculation are done on a 1 220 mm five-stand cold strip tandem mill.The simulation and calculation result shows that the principle,method and steps for determining the shape standard curve are correct and feasible,and the correctness of theoretical analysis and calculation is verified.This paper proposes an idea and a method for the establishment of the shape standard curve in the rolling processes of cold strip mills,which develop the theory and model of the shape standard curve and improve the quality and efficiency of the shape control in the rolling processes of cold strip mills.

Design and implementation of model test installation of heave compensation system of deepsea mining

In order to validate the simulation model and develop heave compensation control strategy,heave compensation model tests were performed.The model test installation includes themining ship motion simulator,the heave compensation system,the lifting pipe simulator,the buffer simulator and the water pool.The tests ofmining ship motion simulator show that it is able to perform under the predetermined attitude path smoothly and can meet the requirements of themining ship motions.The heave compensation effect is more than 60% under random wave and the goal is set to be 50%.The model test results indicate that this heave compensation system is effective and feasible.

Mathematical Modeling of the Oxidation of Polyunsaturated Fatty Acids in Emulsions with Stirring and Limited Oxygen Compensation

The oxidation of polyunsaturated fatty acids （PUFA） in emulsion with stirring and limited oxygen compensation was studied. A mathematical model of diffusion-oxidation was developed considering the mass transfer resistance of a gas-liquid boundary, the resistance of the boundary layer from the emulsifier membrane, and the autocatalytic-type autoxidation reaction of PUFA. The dynamic mass transfer coefficient of the emulsifier membrane, k0, was introduced. The model was verified by comparing the predictions of the model with the experi- mental data. The results indicated that the model was in good agreement with the oxygen diffusion and linoleic acid oxidation in the emulsion, and showed good applicability in the prediction of the effect of the emulsifier type on the oxidation of PUFA in the emulsion. It indicated that the oxidation of PUFA in emulsions, with stirring and limited oxygen compensation from the atmosphere, was controlled mostly by mass transfer resistance from the emulsifier membrane.

Trajectory compensation for multi-robot coordinated lifting system considering elastic catenary of the rope

The multi-robot coordinated lifting system is an unconstrained system with a rigid and flexible coupling.The deformation of the flexible rope causes errors in the movement trajectory of the lifting system.Based on the kinematic and dynamic analysis of the lifting system,the elastic catenary mod-el considering the elasticity and mass of the flexible rope is established,and the effect of the deform-ation of the flexible rope on the position and posture of the suspended object is analyzed.According to the deformation of flexible rope,a real-time trajectory compensation method is proposed based on the compensation principle of position and posture.Under the lifting task of the low-speed move-ment,this is compared with that of the system which neglects the deformation of the flexible rope.The trajectoy of the lifting system considering the deformation of flexible rope.The results show that the mass and elasticity of the flexible rope can not be neglected.Meanwhile,the proposed trajectory compensation method can improve the movement accuracy of the lifting system,which verifies the ef-fectiveness of this compensation method.The research results provide the basis for trajectory plan-ning and coordinated control of the lifting system。

Optimal ConfigurationMethod forMulti-Type Reactive Power Compensation Devices in Regional Power Grid with High Proportion ofWind Power

As the large-scale development of wind farms(WFs)progresses,the connection ofWFs to the regional power grid is evolving from the conventional receiving power grid to the sending power grid with a high proportion of wind power(WP).Due to the randomness of WP output,higher requirements are put forward for the voltage stability of each node of the regional power grid,and various reactive power compensation devices(RPCDs)need to be rationally configured to meet the stable operation requirements of the system.This paper proposes an optimal configuration method for multi-type RPCDs in regional power grids with a high proportion of WP.The RPCDs are located according to the proposed static voltage stability index(VSI)and dynamicVSI based on dynamic voltage drop area,and the optimal configuration model of RPCDs is constructed with the lowest construction cost as the objective function to determine the installed capacity of various RPCDs.Finally,the corresponding regional power grid model for intensive access to WFs is constructed on the simulation platform to verify the effectiveness of the proposed method.

Modeling, identification and compensation for geometric errors of laser annealing table

In order to improve the process precision of an XY laser annealing table, a geometric error modeling, and an identification and compensation method were proposed. Based on multi-body system theory, a geometric error model for the laser annealing table was established. It supports the identification of 7 geometric errors affecting the annealing accuracy. An original identification method was presented to recognize these geometric errors. Positioning errors of 5 lines in the workspace were measured by a laser interferometer, and the 7 geometric errors were identified by the proposed algorithm. Finally, a software-based error compensation method was adopted, and a compensation mechanism was developed in a postprocessor based on LabVIEW. The identified geometric errors can be compensated by converting ideal NC codes to actual NC codes. A validation experiment has been conducted on the laser annealing table, and the results indicate that positioning errors of two validation lines decreased from ±37 μm and ±33 μm to ±5 μm and ±4.5 μm, respectively. The geometric error modeling, identification and compensation method presented in this work can be straightforwardly extended to any configurations of 2-dimensional worktable.

Model test of negative Poisson’s ratio cable for supporting super-largespan tunnel using excavation compensation method

In recent years,there is a scenario in urban tunnel constructions to build super-large-span tunnels for traffic diversion and route optimization purposes.However,the increased size makes tunnel support more difficult.Unfortunately,there are few studies on the failure and support mechanism of the surrounding rocks in the excavation of supported tunnel,while most model tests of super-large-span tunnels focus on the failure characteristics of surrounding rocks in tunnel excavation without supports.Based on excavation compensation method(ECM),model tests of a super-large-span tunnel excavation by different anchor cable support methods in the initial support stage were carried out.The results indicate that during excavation of super-large-span tunnel,the stress and displacement of the shallow surrounding rocks decrease,following a step-shape pattern,and the tunnel failure is mainly concentrated on the vault and spandrel areas.Compared with conventional anchor cable supports,the NPR(negative Poisson’s ratio)anchor cable support is more suitable for the initial support stage of the super-large-span tunnels.The tunnel support theory,model test materials,methods,and the results obtained in this study could provide references for study of similar super-large-span tunnels。

The dynamic compensation temperature in a kinetic spin-5/2 Ising model on a hexagonal lattice

We present a study of the dynamic behavior of a two-sublattice spin-5/2 Ising model with bilinear and crystal-field interactions in the presence of a time-dependent oscillating external magnetic field on alternating layers of a hexagonal lattice by using the Glauber-type stochastic dynamics.The lattice is formed by alternate layers of spins σ=5/2 and S=5/2.We employ the Glauber transition rates to construct the mean-field dynamic equations.First,we investigate the time variations of the average sublattice magnetizations to find the phases in the system and then the thermal behavior of the dynamic sublattice magnetizations to characterize the nature（first-or second-order） of the phase transitions and to obtain the dynamic phase transition（DPT） points.We also study the thermal behavior of the dynamic total magnetization to find the dynamic compensation temperature and to determine the type of the dynamic compensation behavior.We present the dynamic phase diagrams,including the dynamic compensation temperatures,in nine different planes.The phase diagrams contain seven different fundamental phases,thirteen different mixed phases,in which the binary and ternary combination of fundamental phases and the compensation temperature or the L-type behavior strongly depend on the interaction parameters.

Kinematic error modeling and error compensation of desktop 3D printer

Desktop 3D printers have revolutionized how designers and makers prototype and manufacture certain products.Highly popular fuse deposition modeling(FDM)desktop printers have enabled a shift to low-cost consumer goods markets,through reduced capital equipment investment and consumable material costs.However,with this drive to reduce costs,the computer numerical control(CNC)systems implemented in FDM printers are often compromised by poor accuracy and contouring errors.This condition is most critical as users begin to use 3D-printed components in load-bearing applications or to perform mechanical functions.Improved methods of low-cost 3D printer calibration are needed before their open-design potential can be realized in applications,including 3D-printed orthotics and prosthetics.This paper applies methodologies associated with high-precision CNC machining systems,namely,kinematic error modeling and compensation coupled with standardized test methods from ISO230-4,such as the ballbar for kinematic and dynamic error measurements,to examine the influence and feasibility for use on low-cost CNC/3D printing platforms.Recently,the U.S.Food and Drug Administration's"Technical considerations for additive manufactured medical devices"highlighted the need to develop standards specific to additive manufacturing in regulated manufacturing environments.This paper shows the benefits of the methods described within ISO230-4 for error assessment,alongside applying kinematic error modeling and compensation to the popular kinematic configuration of an Ultimaker 3D printer.A Renishaw ballbar QC10 is used to quantify the Ultimaker's errors and thereby populate the error model.This method quantifies machine errors and populates these in a mathematical model of the CNC system.Then,a post-processor can be used to compensate the printing code.Subsequently,the ballbar is used to demonstrate the dramatic impact of the error compensation model on the accuracy and contouring of the Ultimaker printer with 58%reduction in overall circularity error and 90%reduction in squareness error.

Pre-compensation of Friction for CNC Machine Tools through Constructing a Nonlinear Model Predictive Scheme

Nonlinear friction is a dominant factor afecting the control accuracy of CNC machine tools.This paper proposes a friction pre-compensation method for CNC machine tools through constructing a nonlinear model predictive scheme.The nonlinear friction-induced tracking error is frstly modeled and then utilized to establish the nonlinear model predictive scheme,which is subsequently used to optimize the compensation signal by treating the friction-induced tracking error as the optimization objective.During the optimization procedure,the derivative of compensation signal is constrained to avoid vibration of machine tools.In contrast to other existing approaches,the proposed method only needs the parameters of Stribeck friction model and an additional tuning parameter,while fnely identifying the parameters related to the pre-sliding phenomenon is not required.As a result,it greatly facilitates the practical applicability.Both air cutting and real cutting experiments conducted on an in-house developed open-architecture CNC machine tool prove that the proposed method can reduce the tracking errors by more than 56%,and reduce the contour errors by more than 50%.

A Variable-Parameter-Model-Based Feedforward Compensation Method for Tracking Control

Base on the accurate inverse of a system, the feedforward compensation method can compensate the tracking error of a linear system dramatically. However, many control systems have complex dynamics and their accurate inverses are difficult to obtain. In the paper, a variable parameter model is proposed to describe a system and a multi-step adaptive seeking approach is used to obtain its parameters in real time. Based on the proposed model, a variable-parameter-model-based feedforward compensation method is proposed, and a disturbance observer is used to overcome the influence of the model uncertainty. Theoretical analysis and simulation results show that the variable-parametermodel-based feedforward compensation method can obtain better performance than the traditional feedforward compensation.

Sensorless control for hysteresis compensation of AFM scanner by modified Rayleigh model

A novel modified Rayleigh model was developed for compensating hysteresis problem of an atomic force microscope(AFM) scanner.In high driving fields,piezoelectric actuators that integrated a scanner have severe hysteresis,which can cause serious displacement errors.Piezoelectric hysteresis is from various origins including movement of defects,grain boundary effects,and displacement of interfaces.Furthermore,because its characteristic is stochastic,it is almost impossible to predict the piezoelectric hysteresis analytically.Therefore,it was predicted phenomenologically,which means that the relationship between inputs and outputs is formulated.The typical phenomenological approach is the Rayleigh model.However,the model has the discrepancy with experiment result as the fields increase.To overcome the demerit of the Rayleigh model,a modified Rayleigh model was proposed.In the modified Rayleigh model,each coefficient should be defined differently according to the field direction due to the increase of the asymmetry in the high fields.By applying an inverse form of this modified Rayleigh model to an AFM scanner,it is proved that hysteresis can be compensated to a position error of less than 5%.This model has the merits of reducing complicated fitting procedures and saving computation time compared with the Preisach model.

基于LS-SVM的灰色补偿RBF神经网络组合预测模型在建筑物沉降分析中的应用

针对GM(1,1)模型在建筑物变形预测中精度和泛化能力较低的缺陷,提出一种基于LS-SVM的灰色补偿RBF神经网络的建筑物变形组合预测方法。利用最小二乘支持向量机训练由灰色GM(1,1)模型预测得到的一组结果的残差值,直接获得RBF网络的中心函数训练RBF网络,得到RBF误差补偿器,去补偿GM(1,1)模型。实验证明,最小二乘支持向量机、灰色系统以及神经网络3者相结合的方法,能有效提高建筑物变形沉降预测的精度。

基于RBF神经网络和LS-SVM组合模型的磁浮车间隙传感器温度补偿

对磁浮车悬浮间隙传感器温度漂移产生机理进行了研究,提出采用组合预测的方法建立传感器温度特性逆模型进行温度补偿,根据传感器温度特性分别建立径向基函数神经网络(RBF-NN)和最小二乘支持向量机(LS-SVM)温度补偿系统模型,通过在探头内布置PT1000铂热电阻检测探头温度,依据温度信号对传感器进行温度误差补偿。仿真结果表明组合模型能较好地拟合温度逆特性,组合补偿模型的输出不受工作温度的影响,全量程最大误差为0.14 mm,在工作间隙范围内误差小于0.05 mm,且组合模型的补偿误差优于单一模型补偿效果,该方法可有效消除温度漂移效应,并提高传感器的检测准确度,能够满足磁浮车悬浮控制系统要求。