Dynamic Analysis of High-Speed Boat Motion Simulator by a Novel 3-DoF Parallel Mechanism with Prismatic Actuators Based on Seakeeping Trial

In this study,we focused on a novel parallel mechanism for utilizing the motion simulator of a high-speed boat(HSB).First,we expressed the real behavior of the HSB based on a seakeeping trial.For this purpose,we recorded the motion parameters of the HSB by gyroscope and accelerometer sensors,while using a special data acquisition technique.Additionally,a Chebychev highpass filter was applied as a noise filter to the accelerometer sensor.Then,a novel 3 degrees of freedom(DoF)parallel mechanism(1T2R)with prismatic actuators is proposed and analyses were performed on its inverse kinematics,velocity,and acceleration.Finally,the inverse dynamic analysis is presented by the principle of virtual work,and the validation of the analytical equations was compared by the ADAMS simulation software package.Additionally,according to the recorded experimental data of the HSB,the feasibility of the proposed novel parallel mechanism motion simulator of the HSB,as well as the necessity of using of the washout filters,was explored.

Analysis of stress and natural frequencies of high-speed spatial parallel mechanism

In order to grasp the dynamic behaviors of 4-UPS-UPU high-speed spatial parallel mechanism, the stress of driving limbs and natural frequencies of parallel mechanism were investigated. Based on flexible multi-body dynamics theory, the dynamics model of 4-UPS-UPU high-speed spatial parallel mechanism without considering geometric nonlinearity was derived. The stress of driving limbs and natural frequencies of 4-UPS-UPU parallel mechanism with specific parameters were analyzed. The relationship between the basic parameters of parallel mechanism and its dynamic behaviors, such as stress of driving limbs and natural frequencies of parallel mechanism, were discussed. The numerical simulation results show that the stress and natural frequencies are relatively sensitive to the section parameters of driving limbs, the characteristic parameters of material on driving limbs, and the mass of moving platform. The researches can provide important theoretical base of the analysis of dynamic behaviors and optimal design for high-speed spatial parallel mechanism.

DEVELOPMENT OF THE ENERGY MANAGEMENT STRATEGY FOR PARALLEL HYBRID ELECTRIC URBAN BUSES

A novel parallel hybrid electrical urban bus （PHEUB） configuration consisting of an extra one-way clutch and an automatic mechanical transmission （AMT） is taken as the study subject. An energy management strategy combining a logic threshold approach and an instantaneous optimization algorithm is proposed for the investigated PHEUB. The objective of the energy management strategy is to achieve acceptable vehicle performance and drivability requirements while simultaneously maximizing the engine fuel consumption and maintaining the battery state of charge in its operation range at all times. Under the environment of Matlab/Simulink, a computer simulation model for the PHEUB is constructed by using the model building method combining theoretical analysis and bench test data. Simulation and experiment results for China Typical Bus Driving Schedule at Urban District （CTBDS_UD） are obtained, and the results indicate that the proposed control strategy not only controls the hybrid system efficiently but also improves the fuel economy significantly.

Dynamic Feedforward Control of a Novel 3-PSP 3-DOF Parallel Manipulator

Parallel manipulators with less than six degrees of freedom （DOF） have been increasingly used in high-speed hybrid machine tools. The structural features of parallel manipulators are dynamic, a characteristic that is particularly significant when these manipulators are used in high-speed machine tools. However, normal kinematic control method cannot satisfy the requirements of the control system. Many researchers use model-based dynamic control methods, such as the dynamic feedforward control method. However, these methods are rarely used in hybrid machine tools because of the complex dynamic model of the parallel manipulator. In order to study the dynamic control method of parallel manipulators, the dynamic feedforward control method is used in the dynamic control system of a 3-PSP （prismatic-spherical-prismatic） 3-DOF spatial parallel manipulator used as a spindle head in a high-speed hybrid machine tool. Using kinematic analysis as basis and the Newton-Euler method, we derive the dynamic model of the parallel manipulator. Furthermore, a model-based dynamic feedforward control system consisting of both kinematic control and dynamic control subsystems is established. The dynamic control subsystem consists of two modules. One is used to eliminate the influence of the dynamic characteristics of high-speed movement, and the other is used to eliminate the dynamic disturbances in the milling process. Finally, the simulation model of the dynamic feedforward control system of the 3-PSP parallel manipulator is constructed in Matlab/Simulink. The simulations of the control system eliminating the influence of the dynamic characteristics and dynamic disturbances are conducted. A comparative study between the simulations and the normal kinematic control method is also presented.The simulations prove that the dynamic feedforward control method effectively eliminates the influence of the dynamic disturbances and dynamic characteristics of the parallel manipulator on high-speed machine tools, and significantly improves the trajectory accuracy. This is the first attempt to introduce the dynamic feedfordward control method into the 3-PSP spatial parallel manipulator whose dynamic model is complex and provides a study basis for the real-time dynamic control of the high-speed hybrid machine tools.

Parallel Spectral-Domain Optical Coherence Tomography for Non-Scattering Object Imaging

The parallel spectral-domain optical coherence tomography（PSDOCT） is described for highspeed optical coherence tomography（OCT） without lateral scanning. In this setup, the self-elimination of auto-correlation（AC） interference algorithm was used for eradicating the AC interference and ghost images. However, when performed in free space OCT, this algorithm still generated a weak DC component. The algorithm was improved by adding the background intensity part to compensate for the mutual interference between object and reference arms. The results demonstrate that the DC component can be eradicated. Compared with conventional QCT and complex Fourier-domain optical coherence to- mography, the advantages of PSDOCT with the improved algorithm in free space are that it has no moving parts to generate consecutive phase shift, the structure of the object can be reconstructed immediately and automatically, and the speed is approximately 16 times faster than those of the other two in the same case.

Velocity Constraints Based Approach for Online Trajectory Planning of High‑Speed Parallel Robots

High-speed parallel robots have been extensively utilized in the light industry.However,the influence of the nonlinear dynamic characteristics of high-speed parallel robots on system’s dynamic response and stable operation cannot be ignored during the high-speed reciprocating motion.Thus,trajectory planning is essential for efficiency and stability from pick-and-place(PAP)actions.This paper presents a method for planning the equal-height pick-and-place trajectory considering velocity constraints to improve the PAP efficiency and stability of high-speed parallel robots.The velocity constraints in the start-and-end points can reduce vibration from picking and placing,making the trajectory more suitable to complex beltline situations.Based on velocity constraints,trajectory optimization includes trajectory smoothness and joint torque to optimize cycle time is carried out.This paper proposes an online trajectory optimization solution.By using back propagation(BP)neural networks,the solution is simplified and can be solved in real-time.Simulation and experiments were carried out on the SR4 parallel robot.The results show that the proposed method improves the efficiency,smoothness,and stability of the robot.This paper proposes an online trajectory planning method which is velocity constraints based and can improve the efficiency and stability of high-speed parallel robots.The work of this research is conducive to finely applying high-speed parallel robots.

Ultra-high Speed and Dual-Channel Data Acquisition Card with IGSPS Based on PXI Bus

This paper discusses the chief techniques and design principles of an ultra-high speed and dual-channel data acquisition card based on PXI bus, using FPGA (Field Programmable Gate Array) as logic controller cell. The instmment consists of pre-pro- cess circuit, A/D converter, SDRAM (Synchronous Dynamic random access memory), and control circuit integrated in FPGA. It can achieve allowing up to 1000MHz real-time sampling rate. The test result indicates that the system works normally and the system design is successful.

Decoupling Control Strategy for Single Phase SPWM Parallel Inverters

A deconpling control strategy of inverter parallel system is proposed based on the equivalent output impedance of single phase voltage source SPWM （sinusoidal pulse width modulation） inverter. The active power and reactive power are calculated in terms of output voltage and current of the inverter, and sent to the other inverters in the parallel system via controller area network （CAN） bus. By calculating and decoupling the circumfluence of the active power and reactive power, the inverters can share load current via the regulation of the reference-signal phase and amplitude. Experimental results of an 110V/2kVA inverter parallel system show the feasibility of the decoupling control strategy.

Evaluation of the power consumption of a high-speed parallel robot

An inverse dynamic model of a high-speed parallel robot is established based on the virtual work principle. With this dynamic model, a new evaluation method is proposed to measure the power consumption of the robot during pick-and-place tasks. The power vector is extended in this method and used to represent the collinear velocity and acceleration of the moving platform. After- ward, several dynamic performance indices, which are homogenous and possess obvious physical meanings, are proposed. These indices can evaluate the power input and output transmissibility of the robot in a workspace. The distributions of the power input and output transmissibility of the high-speed parallel robot are derived with these indices and clearly illustrated in atlases. Furtherly, a low- power-consumption workspace is selected for the robot.

A Parallel Actuated Pantograph Leg for High-speed Locomotion

High-speed running is one of the most important topics in the field of legged robots which requires strict constraints on structural design and control. To solve the problems of high acceleration, high energy consumption, high pace frequency and ground impact during high-speed movement, this paper presents a parallel actuated pantograph leg with an approximately decoupled configuration. The articulated leg features in light weight, high load capacity, high mechanical efficiency and structural stability. The similarity features of force and position between the control point and the foot are analyzed. The key design parameters, K1 and K2, which concern the dynamic performances, are carefully optimized by comprehensive evaluation of the leg inertia and mass within the maximum foot trajectory, A control strategy that incorporates virtual Spring Loaded Inverted Pendulum （SLIP） model and active force is also proposed to test the design. The strategy can implement highly flexible impedance without mechanical springs, which substantially simplifies the design and satisfies the variable stiffness requirements during high-speed running. The rationality of the structure and the effectiveness of the control law are validated by simulation and experiments.

Chinese High-Speed Bus and Its Outlook

The emergence of expressway has exerted great influences on China’s auto industry. Rapid transit has put forward strict requirements for vehicle reliability, handle-stability and dynam-ics. The 9th Five-Year Plan for auto industry clearly states: Develop large & medium bus and deluxe touring bus suitable for long and medium distance running operation on expressway, en-

DESIGN AND IMPLEMENTATION OF A GIGABIT PER SECOND OPTICAL INTERCONNECTION DATA LINK

The interconnection network is one of the key elements of distributed computing systems such as MPP (massively parallel processing) or NOWs (network of workstations).In this paper,a high speed optical interconnection data link which has been designed and implemented is presented.Using TDM (time division multiplexing),virtual parallel synchronous data transmission between the PCI buses of two computers has been achieved.The maximum data rate of the link is 1 250 Mbit/s,and the communication distance of link is more than 600 m using multi mode fibers.The design method of the high frequency electrical signals on the network interface card has been analyzed,and the efficient data transmission bandwidth of the link in different transmission modes has been tested and analyzed.

Design and implementation of high-speed real-time data acquisition system based on FPGA

The electromagnetic radiation will result in informa- tion leakage being recovered when computers work. This article presents a high-speed real-time data acquisition system based on peripheral component interconnect （PCI） bus and field programmable gate array （FPGA） for sampling electromagnetic radiation caused by video signal. The hardware design and controlling flow of each module are introduced in detail. The sampling rate can reach 64 Msps and system transfers speed can be up to 128 Mb/s by using time interleaving, which increases the overall sampling speed of a system by operating two data converters in parallel.

Implementable Strategy Research of Brake Energy Recovery Based on Dynamic Programming Algorithm for a Parallel Hydraulic Hybrid Bus

The purpose of this paper is to develop an implementable strategy of brake energy recovery for a parallel hydraulic hybrid bus. Based on brake process analysis, a dynamic programming algorithm of brake energy recovery is established. And then an implementable strategy of brake energy recovery is proposed by the constraint variable trajectories analysis of the dynamic programming algorithm in the typical urban bus cycle. The simulation results indicate the brake energy recovery efficiency of the accumulator can reach 60% in the dynamic programming algorithm. And the hydraulic hybrid system can output braking torque as much as possible.Moreover, the accumulator has almost equal efficiency of brake energy recovery between the implementable strategy and the dynamic programming algorithm. Therefore, the implementable strategy is very effective in improving the efficiency of brake energy recovery.The road tests show the fuel economy of the hydraulic hybrid bus improves by 22.6% compared with the conventional bus.

Design of 4.25 Gbps Small Form-factor Pluggable(SFP) Transceiver

Compact, hot-pluggable, and data-agnostic, SFP modules bring up to 4.25 Gbps to a flexible new form factor. The SFP transceiver which is the core device of optical communication is always the research focus in the field of optical communication for both telecommunication and data communication applications. The working principles of SFP including the transmitter components, the receiver components and the microcontroller are discussed in detail. The basic theory of high-speed signal and the concept of high - speed circuit, high-speed board design techniques are presented. A new design of high performance, cost effective SFP transceiver and PCB layout are also presented. The performance of the transceiver is analyzed and the characteristics of the sample are coincident with the expected ones. The status of the transceiver can be monitored and controlled by F C bus through the interface in real time. This transceiver can meet the requirement of SFF-8472.

A Scalable Numerical Method for Simulating Flows Around High-Speed Train Under Crosswind Conditions

This paper presents a parallel Newton-Krylov-Schwarz method for the numerical simulation of unsteady flows at high Reynolds number around a high-speed train under crosswind.With a realistic train geometry,a realistic Reynolds number,and a realistic wind speed,this is a very challenging computational problem.Because of the limited parallel scalability,commercial CFD software is not suitable for supercomputers with a large number of processors.We develop a Newton-KrylovSchwarz based fully implicit method,and the corresponding parallel software,for the 3D unsteady incompressible Navier-Stokes equations discretized with a stabilized finite element method on very fine unstructured meshes.We test the algorithm and software for flows passing a train modeled after China’s high-speed train CRH380B,and we also compare our results with results obtained from commercial CFD software.Our algorithm shows very good parallel scalability on a supercomputer with over one thousand processors.

A NOVEL PHYSICAL-LAYER TRANSCEIVER USED IN USB2.0 SERIAL DATA LINK

The paper proposes a novel transceiver in physical layer for high-speed serial data link based upon Universal Serial Bus (USB) 2.0, comprising transmitter and receiver. In the design, transmitter contains pre-and-main driver to satisfy slew rate of output data, receiver includes optimized topology to improve preci- sion of received data. The circuit simulation is based on Cadence’s spectre software and Taiwan Semiconduc- tor Manufacture Corporation’s library of 0.25μm mixed-signal Complementary Metal-Oxide Semiconductor (CMOS) model. The front and post-simulation results reveal that the transceiver designed can transmit and re- ceive high-speed data in 480Mbps, which is in agreement with USB2.0 specification. The chip of physi- cal-layer transceiver has been designed and implemented with 0.25μm standard CMOS technology.

Dynamic Testing of an IEC 61850 Based 110 kV Smart Substation Solution

This paper presents the dynamic simulation and testing to verify the smart substation solutions designed for a brown field 110 kV retrofitting project. An IEC 61850 based aotomation design, transitioning the conventional substation into a smart substation, where existing current/voltage transformers remain in service, and smart Field Apparatus Interface Units (FAIUs) are utilised to bridge the conventional primary system to the IEC 61850 based secondary system. While outdoor switchgears and field instrument transformers are equipped with FAIUs, MV indoor switchgears are installed with IEDs mounted on the top. Direct point-to-point connections serve as process buses, and a single PRP/RSTP LAN is employed at station bus level. Extensive dynamic simulation and testing were conducted in the Smart Substation Technologies Lab, and test results show the smart substation performance meets and exceeds the substation reliability requirement.

A Low Power and High Speed Viterbi Decoder Based on Deep Pipelined, Clock Blocking and Hazards Filtering

A high speed and low power Viterbi decoder architecture design based on deep pipelined, clock gating and toggle filtering has been presented in this paper. The Add-Compare-Select (ACS) and Trace Back (TB) units and its sub circuits of the decoder have been operated in deep pipelined manner to achieve high transmission rate. The Power dissipation analysis is also investigated and compared with the existing results. The techniques that have been employed in our low-power design are clock-gating and toggle filtering. The synthesized circuits are placed and routed in the standard cell design environment and implemented on a Xilinx XC2VP2fg256-6 FPGA device. Power estimation obtained through gate level simulations indicated that the proposed design reduces the power dissipation of an original Viterbi decoder design by 68.82% and a speed of 145 MHz is achieved.

POTENTIAL: A Highly Adaptive Core of Parallel Database System

POTENTIAL is a virtual database machine based on general computing platforms, especially parallel computing platforms. It provides a complete solution to high-performance database systems by a 'virtual processor + virtual data bus + virtual memory' architecture. Virtual processors manage all CPU resources in the system, on which various operations are running. Virtual data bus is responsible for the management of data transmission between associated operations, which forms the hinges of the entire system. Virtual memory provides efficient data storage and buffering mechanisms that conform to data reference behaviors in database systems. The architecture of POTENTIAL is very clear and has many good features, including high efficiency, high scalability, high extensibility, high portability, etc.