Polarimetric super-resolution algorithm for radar range imaging via spatial smoothing processing

A full-polarimetric super-resolution algorithm with spatial smoothing processing is presented for one-dimensional（1-D）radar imaging.The coherence between scattering centers is minimized by using spatial smoothing processing（SSP）.Then the range and polarimetric scattering matrix of the scattering centers are estimated.The impact of different lengths of the smoothing window on the imaging quality is mainly analyzed with different signal-to-noise ratios（SNR）.Simulation and experimental results show that an improved radar super-resolution range profile and more precise estimation can be obtained by adjusting the length of the smoothing window under different SNR conditions.

Variable Stiffness Identification and Configuration Optimization of Industrial Robots for Machining Tasks

Industrial robots are increasingly being used in machining tasks because of their high flexibility and intelligence.However,the low structural stiffness of a robot significantly affects its positional accuracy and the machining quality of its operation equipment.Studying robot stiffness characteristics and optimization methods is an effective method of improving the stiffness performance of a robot.Accordingly,aiming at the poor accuracy of stiffness modeling caused by approximating the stiffness of each joint as a constant,a variable stiffness identification method is proposed based on space gridding.Subsequently,a task-oriented axial stiffness evaluation index is proposed to quantitatively assess the stiffness performance in the machining direction.In addition,by analyzing the redundant kinematic characteristics of the robot machining system,a configuration optimization method is further developed to maximize the index.For numerous points or trajectory-processing tasks,a configuration smoothing strategy is proposed to rapidly acquire optimized configurations.Finally,experiments on a KR500 robot were conducted to verify the feasibility and validity of the proposed stiffness identification and configuration optimization methods.

Analysis of Key Factors in Cable Force Calculation for Cable-Stayed Bridges

Three methods for calculating cable force （analytic method, fitting method and finite element method） are analyzed and compared. The effects of boundary condition, spectrum resolution, sampling time, and number of sampling points on the precision of cable force identification are discussed, and error analysis is conducted. The results of three methods applied to a practical project are significantly less than the design value. Comparatively, the result of finite element method is the closest to the design value. Moreover, their computational precision and error are compared and analyzed. The precision of frequency identification of cables, long cables in particular, is strongly affected by frequency resolution. If the frequency resolution is included in calculating the cable force, the identification error can be reduced greatly.