Geometric Error Identification of Gantry-Type CNC Machine Tool Based on Multi-Station Synchronization Laser Tracers

Laser tracers are a three-dimensional coordinate measurement system that are widely used in industrial measurement.We propose a geometric error identification method based on multi-station synchronization laser tracers to enable the rapid and high-precision measurement of geometric errors for gantry-type computer numerical control(CNC)machine tools.This method also improves on the existing measurement efficiency issues in the single-base station measurement method and multi-base station time-sharing measurement method.We consider a three-axis gantry-type CNC machine tool,and the geometric error mathematical model is derived and established based on the combination of screw theory and a topological analysis of the machine kinematic chain.The four-station laser tracers position and measurement points are realized based on the multi-point positioning principle.A self-calibration algorithm is proposed for the coordinate calibration process of a laser tracer using the Levenberg-Marquardt nonlinear least squares method,and the geometric error is solved using Taylor’s first-order linearization iteration.The experimental results show that the geometric error calculated based on this modeling method is comparable to the results from the Etalon laser tracer.For a volume of 800 mm×1000 mm×350 mm,the maximum differences of the linear,angular,and spatial position errors were 2.0μm,2.7μrad,and 12.0μm,respectively,which verifies the accuracy of the proposed algorithm.This research proposes a modeling method for the precise measurement of errors in machine tools,and the applied nature of this study also makes it relevant both to researchers and those in the industrial sector.

Design and construction of a multi-sensor position monitoring system applied to key components of synchrotron sources

High-accuracy position monitoring of key components is required for modern synchrotron sources,such as free-electron lasers and diffraction-limited storage rings.Although various position monitoring sensors have been adopted to monitor the displacement of key components in each direction in real time,these monitoring systems are usually based on their own coordinate system.Data from such systems are meaningful when evaluating and examining the data from each positioning monitoring system in a unified coordinate system.This paper presents the design and construction of a multi-sensor position monitoring system(MPMS).A hydrostatic levelling system,a wire position sensor(WPS) and a tiltmeter are fixed to a stainless steel plate that has been calibrated by a coordinate-measurement machine.Several plates form the MPMS.The system must compensate for the sag of the stretched wires so that the WPSs create a straight line.The method of the coordinate transformation from the sensor coordinate system to the MPMS coordinate system was thoroughly studied.An experimental MPMS that includes five plates was setup in a 20-m tunnel,and a validation study to verify fully the feasibility of the MPMS was performed.

An Indoor Positioning Scheme for Visible Light Using Fingerprint Database with Multi.Parameters

This paper proposes a novel indoor positioning scheme based on visible light communication(VLC).A new indoor VLC positioning scheme using fingerprint database with multi-parameters have been raised.We conduct simulation and experimental research on the illumination intensity distribution of several direction parameters.In the experiment,four LED matrixes are identified by LED-ID with room dimensions of 3.75×4.00×2.7 m^3.The results show that the mean of the location error is 0.22 m in the receiving plane,verifying the correctness and feasibility of the positioning scheme.

Laser Interferometer Based Measurement for Positioning Error Compensation in Cartesian Multi-Axis Systems

Accuracy is one of the most important key indices to evaluate multi-axis systems’ (MAS’s) characteristics and performances. The accuracy of MAS’s such as machine tools, measuring machines and robots is adversely affected by various error sources, including geometric imperfections, thermal deformations, load effects, and dynamic disturbances. The increasing demand for higher dimensional accuracy in various industrial applications has created the need to develop cost-effective methods for enhancing the overall performance of these mechanisms. Improving the accuracy of a MAS by upgrading the physical structure would lead to an exponential increase in manufacturing costs without totally eliminating geometrical deviations and thermal deformations of MAS components. Hence, the idea of reducing MAS’s error by a software-based alternative approach to provide real-time prediction and correction of geometric and thermally induced errors is considered a strategic step toward achieving the full potential of the MAS. This paper presents a structured approach designed to improve the accuracy of Cartesian MAS’s through software error compensation. Four steps are required to develop and implement this approach: (i) measurement of error components using a multidimensional laser interferometer system, (ii) tridimensional volumetric error mapping using rigid body kinematics, (iii) volumetric error prediction via an artificial neural network model, and finally (iv) implementation of the on-line error compensation. An illustrative example using a bridge type coordinate measuring machine is presented.

Position-sensitive plastic scintillator detector with WLS-fiber readout

In this paper,the design,construction,simulation,and performance of a position-sensitive plastic scintillator detector are presented.The readout of the detector uses wavelength-shifting fibers coupled with multi-anode photomultipliers(PMTs) for the x-and y-dimensions.After calibrating the multi-anode PMTs,a two-dimensional projection image of the square scintillator telescope hit by cosmic muons is demonstrated.By performing a cosmic test with the Micromegas telescope,the position resolution of the detector was determined to reach approximately8.6 mm,which is close to the value obtained in physical simulation.

Multi-point Boundary Value Problems for Nonlinear Fourth-order Differential Equations with All Order Derivatives

By using fixed point theorem, multiple positive solutions for some fourth- order multi-point boundary value problems with nonlinearity depending on all order derivatives are obtained. The associated Green＇s functions are also given.

Underwater Terrain Positioning Method Based on Least Squares Estimation for AUV

To achieve accurate positioning of autonomous underwater vehicles, an appropriate underwater terrain database storage format for underwater terrain-matching positioning is established using multi-beam data as underwater terrainmatching data. An underwater terrain interpolation error compensation method based on fractional Brownian motion is proposed for defects of normal terrain interpolation, and an underwater terrain-matching positioning method based on least squares estimation（LSE） is proposed for correlation analysis of topographic features. The Fisher method is introduced as a secondary criterion for pseudo localization appearing in a topographic features flat area, effectively reducing the impact of pseudo positioning points on matching accuracy and improving the positioning accuracy of terrain flat areas. Simulation experiments based on electronic chart and multi-beam sea trial data show that drift errors of an inertial navigation system can be corrected effectively using the proposed method. The positioning accuracy and practicality are high, satisfying the requirement of underwater accurate positioning.

Mobile Positioning System Based on the Wireless Sensor Network in Buildings

Established on the Intel Multi-Core Embedded platform, using 802.11 Wireless Network protocols as the communication medium, combining with Radio Frequency-Communication and Ultrasonic Ranging, imple-ment a mobile terminal system in an intellectualized building. It can provide its holder such functions: 1) Accurate Positioning 2) Intelligent Navigation 3) Video Monitoring 4) Wireless Communication. The inno-vative point for this paper is to apply the multi-core computing on the embedded system to promote its com-puting speed and give a real-time performance and apply this system into the indoor environment for the purpose of emergent event or rescuing.

多体位智能轮椅床椅转换装置的运动学仿真分析

介绍了多体位智能轮椅的坐、躺、立、蹲、行5种姿态的转换功能,对床椅转换装置进行简化处理,建立背板机构的运动学模型,利用MATLAB对模型进行计算,得到背板的角速度和角加速度时间的运动曲线。利用ADAMS对优化后的装置模型进行运动学分析,得到改进后床椅转换装置的运动曲线。结果表明:该装置具有较好的运动学性能,在床椅转换过程中背板的最大角加速度达到了16°/s^(2),小于人体所能承受的最大角加速度50°/s^(2)。改进后,床椅平稳转换的时间有所延长,转换过程耗时7.5 s,在0.7~6.9 s内,背板运动趋于加速度接近0的平稳运动,表明推杆速度设计合理。

连栋温室分段变距喷雾机器人设计与试验

针对国内连栋温室缺乏植保喷雾机、机械走直定位与换轨转向精度低等问题,设计了一种连栋温室分段变距喷雾机器人,在实现无人化喷药的同时提高作业精度。为满足连栋温室机械作业路轨结合、精准切换的要求,提出一种通用型移动底盘,并确定其关键设计参数;为减少底盘上下轨时的偏移量,设计轨上矫正装置,通过分析计算及试验验证,确定其安装余量为4 mm;针对底盘对轨误差大的问题,提出一种二维码融合陀螺仪及光电传感器双向垂直寻迹的路面关键点定位与转向控制方法。设计分段变距喷雾装置,提出一种丝杆滑台驱动的喷杆变距方案,分析校验其驱动参数以满足工作要求;基于滚针轴承设计喷杆辅助防抖装置,减小因喷杆剧烈抖动带来的滑台与喷杆损伤。开发底盘运动及分段变距喷雾控制系统,实现喷雾机器人在连栋温室内的全程自动化作业。最后,对样机进行底盘性能与喷雾效果试验。底盘作业时直线行走与对轨误差平均值分别为4.8、5.8 mm,满足控制精度要求;避障距离为34 cm,满足安全性要求;防抖装置的安装使喷杆行进方向的抖动量从-1°~1.3°降低到±0.4°内,喷头方向的抖动量从±0.5°降低到±0.3°内,防抖效果显著;分段变距喷雾作业后,盛果期番茄叶片正面雾滴沉积量为1.76μL/cm^(2),反面沉积量为0.2μL/cm^(2),雾滴体积中径在100~180μm之间,满足作业要求。

基于多绕组变压器的高压无线充电自由定位系统

针对电动车辆无线电能传输(wireless power transfer,WPT)系统存在的半导体性能有限和定位困难的问题,提出了一种多对一高压无线充电自由定位系统。该系统采用逆变器串联输入的设计来适应高压应用场景,同时利用多绕组变压器实现逆变器的等效并联输出和向多路发射回路传输电能的功能,并采用了多对一的设计以扩大电动车的定位范围以实现无线充电的自由定位功能。为分析多绕组变压器的工作机理和研究多对一拓扑的能量传输特性,进行了等效电路分析和MATLAB仿真,并制作实验室原型样机进行了实验验证。基于实验和仿真结果,提出了一种基于多对一WPT拓扑的混合工作模式,可以有效地扩大电动车辆无线充电时的定位范围。研究和分析表明,文中所提出的拓扑结构可以有效地提高系统的输入电压以应用于高压场景,并能有效扩大电动车辆无线充电时的定位范围以实现自由定位。

大口径反射镜Bipod支撑结构的装调与检测方法

随着我国遥感卫星对地观测分辨率的不断提升,空间遥感相机的有效口径逐步增大,为有效应对相机在地表装调时的重力误差干扰,大口径遥感相机的装调方式逐步从光轴水平形式转变为光轴竖直形式,与之对应的,相机主反射镜支撑结构与装配需求也在不断革新。为满足反射镜支撑与减重需求,在1 m及以上口径的反射镜支撑形式中,Bipod结构是较为常见的一种结构形式,不同于传统的框式支撑形式,它在光机结构粘接与结构位置标定需求上都有了巨大变革。为保证Bipod支撑结构下反射镜的装配定位精度和面形变化满足系统指标要求,提出了一种结合多目标空间位置转换和Stewart结构运动反演的大口径反射镜组件装调方法,该方法可在有效保证光机结构粘接点精度的同时,仅依靠反射镜自身支撑结构,实现反射镜与主承力板之间的高精度六维调节,系统装调误差可控制在0.04 mm左右。在遥感相机的实际装调过程中,通过分析主反射镜在系统中的装调误差区间,并以此为标准制定了反射镜Bipod结构的定位、粘接、调整和检测方案,实践结果表明该方法可有效控制反射镜的装配定位精度和面形误差,装调结果能够满足大口径遥感相机的系统成像需求。

增强局部注意力的时间序列分类方法

现有时间序列分类方法普遍基于一种循环网络结构解决时间序列点值耦合问题,无法并行计算,导致计算资源浪费,因此提出一种增强局部注意力的时间序列分类方法。该方法拟合混合距离信息以增加时间序列位置感知能力,将混合距离信息融入自注意矩阵计算中,从而扩展自注意力机制;构造多尺度卷积注意力获取多尺度局部前向信息,以解决标准自注意力机制基于点值计算存在注意力混淆的问题;使用改进后的自注意力机制构造时序自注意分类模块,并行计算处理时间序列分类任务。实验结果表明,与现有时间序列分类方法相比,基于局部注意力增强的时间序列分类方法能够加速收敛,有效提高时序序列分类效果。

基于射频识别技术的笼养雏鸡运动监测研究

为了解笼养雏鸡的运动行为和健康状况,研究设计了一种基于射频识别技术(RFID)的笼养鸡个体实时运动监测系统。研究首先搭建了一个模拟的试验环境,其包括一个超高频的射频识别读写器,三个天线和若干标签,一台计算机以及射频识别读写软件;随后使用机器学习的方法拟合出当前环境下不同天线接收信号强度与距离之间的关系,并进行性能比较;通过对数据进行预处理,使用获得的距离模型计算出标签与不同天线之间的距离,使用多点定位计算出所建立坐标系下标签的位置信息,实现对不同标签的运动轨迹可视化。结果显示,选定的6个电子标签测试时间为30 min,标签的计算位置与真实位置的最小欧式误差距离为4.52 cm,所有测试点的平均误差距离为9.56 cm;对比标签的真实运动轨迹和计算运动轨迹,RFID监测系统能够动态地识别活动量减少或不活动的病鸡。研究表明,基于RFID建立的笼养鸡个体实时运动检测系统能够实时监测笼养鸡个体活动情况,为家禽健康监测和疾病预防提供技术支持。

自由漂浮空间机器人捕获翻滚目标的力-位-型融合控制方法

翻滚目标捕获过程中,空间机器人的运动会对基座产生扰动、接触过程的冲击碰撞容易产生安全风险。因此,为了在捕获翻滚目标的同时抑制空间机械臂对基座的扰动和对目标的碰撞冲击,提出一种自由漂浮空间机器人力-位-型融合控制方法。首先将自由漂浮空间机器人的非完整冗余性、运动冗余性表征为型空间,构建由末端位姿、型状态组合的广义状态空间并建立系统的运动学和动力学模型;通过优化基座与机械臂的位-型及零空间运动,减小机械臂抓捕运动在基座产生的扰动;通过优化基座、机械臂与翻滚目标的相对位-型,减小碰撞冲击力在基座产生的姿态扰动。给定最优位-型及末端操作力,基于阻抗控制原理及零空间投影策略,实现多优先级力-位-型融合控制。最后,开展了空间机器人捕获翻滚目标的典型任务仿真,结果表明通过力-位-型融合优化与控制方法可以有效减小空间机器人捕获过程产生的基座扰动。

基于多策略改进鲸鱼算法的船舶推力分配方法

船舶动力定位推力分配求解是一种复杂的多约束多目标优化问题,鲸鱼优化算法(WOA)处理该类问题较传统推力分配算法计算更简便、精度更高,但以牺牲时间为代价,需解决实时可靠收敛问题。针对上述问题,提出一种改进鲸鱼推力分配算法,通过采用等式约束项的特解系数为个体变量,降低搜索空间维度和范围,为算法获取可靠解和快速收敛奠定基础;通过空间区块化和“精英”筛选法初始化种群,增加初始种群分散性和“精英”个体数量,提高寻优效率和收敛稳定性;引入动态种群边界获取合理的搜索空间,提高算法收敛速度;最后运用类梯度法进行种群更新,模拟区域遍历搜寻,以较少迭代次数获取可靠解。以CybershipⅢ船模为对象进行仿真验证,结果表明该算法可行,具有较好的实时性和稳定收敛性,提高了推力分配性能。

基于多尺度和加权坐标注意力的轻量化红外道路场景检测模型

针对道路场景下红外目标遮挡、缺乏纹理细节而导致目标误检、漏检的问题,提出一种基于多尺度和加权坐标注意力的轻量化红外道路场景检测模型(MSC-YOLO)。以YOLOv7-tiny作为基线模型,首先,在MobileNetV3的不同中间特征层引入多尺度金字塔模块PSA(Pyramid Split Attention),设计一种多尺度特征提取的轻量化主干提取网络MSM-Net(Multi-Scale Mobile Network),解决固定大小卷积核造成的特征污染问题,提高对于不同尺度目标的细粒度提取能力;其次,在特征融合网络融入加权坐标注意力(WCA)机制,叠加从中间特征图垂直和水平空间方向上获取的目标位置信息,增强目标特征在不同维度上的融合能力;最后,替换定位损失函数为高效交并比(EIoU),分别计算预测框和真实框的长、宽影响因子,提高收敛速度。在Flir数据集上进行验证实验,与YOLOv7-tiny模型相比,在mAP(IoU=0.5)仅降低0.7个百分点的前提下,MSC-YOLO的参数量减少67.3%,浮点运算次数减少54.6%,模型大小减小60.5%,帧率在RTA 2080Ti上达到101,在检测性能和轻量化上达到平衡,满足红外道路场景的实时检测需求。

基于二维混合式位置编码的高精度测角

针对具有精密旋转轴系类的高端制造装备或精密测量仪器,其旋转角度采用传统圆光栅难以消除偏心误差对测量角度精度的影响,提出了一种基于二维混合式位置编码的旋转角度高精度测量方法。该测角系统由一个二维混合式位置编码盘、两个CCD相机和远心镜头组成,二维混合式位置编码盘被固定在精密旋转轴系上以获得其旋转角度。然后,建立了测角模型并从数学上证明了测角精度与安装偏心无关。利用多齿分度台对已提出测角系统精度进行检测,测量角度误差在±1″。最后,利用已提出测量方法对直驱转台的角度定位精度进行测量,角度定位误差在±5″内。与传统圆光栅测角相比,该方法不需要考虑安装偏心误差对测角精度的影响,具有稳定性好、使用简单等特点,可用于角度定位误差的检测。

基于多尺度特征融合的轻量化人脸图像修复算法

针对当前遮挡的人脸图像修复中修复图像质量差和模型参数量大的问题,提出了一种基于多尺度特征融合的改进U-Net的轻量化人脸图像修复模型——LM-UNET。首先,使用深度可分离卷积替换原有卷积,增强模型对不同通道和上下文信息的特征表达能力,实现模型轻量化;其次,在跳跃连接中设计了多尺度特征注意力融合模块,充分融合不同尺度特征的信息,内嵌残差块减少特征间语义差距,提高模型修复准确率;最后,引入了位置注意力模块,增强人脸图像的显著信息,提升模型对人脸位置像素信息的有效提取能力。在基于CK+数据集生成的遮挡人脸数据集MFD上对该算法进行训练、验证和测试,修复后的图像的峰值信噪比(PSNR)达到30.49dB,结构相似性(SSIM)达到96.85%,与其他模型的对比实验结果表明,该模型对存在遮挡的人脸修复图像质量和视觉效果更好。

基于多源信息融合的RBF神经网络室内可见光定位算法

针对基于接收信号强度(RSS)的定位技术易受环境干扰而导致定位精度不高和稳定性较差的问题,提出了一种基于多源信息融合的径向基函数(RBF)神经网络室内可见光定位算法。通过将图像的颜色矩特征与RSS矩特征融合,构建指纹库,并采用RBF神经网络进行预测,实现了图像与RSS之间的优势互补,最后对定位算法进行了验证。实验结果表明,经过优化的多源信息融合定位算法较单一RSS定位算法的定位精度提高了9.4%。