The dynamic behavior of a bridge-erecting machine, carrying a moving mass suspended by a wire rope, is investigated. The bridge-erecting machine is modelled by a simply supported uniform beam, and a massless equivale...The dynamic behavior of a bridge-erecting machine, carrying a moving mass suspended by a wire rope, is investigated. The bridge-erecting machine is modelled by a simply supported uniform beam, and a massless equivalent ＂spring-damper＂ system with an effective spring constant and an effective damping coefficient is used to model the moving mass suspended by the wire rope. The suddenly applied load is represented by a unitary Dirac Delta function. With the expansion method, a simple closed-form solution for the equation of motion with the replaced spring-damper-mass system is formulated. The characters of the rope are included in the derivation of the differential equation of motion for the system. The numerical examples show that the effects of the damping coefficient and the spring constant of the rope on the deflection have significant variations with the loading frequency. The effects of the damping coefficient and the spring constant under different beam lengths are also examined. The obtained results validate the presented approach, and provide significant references in the design process of bridgeerecting machines.展开更多
The existing articulated arm coordinate measuring machines（AACMM） with one measurement model are easy to cause low measurement accuracy because the whole sampling space is much bigger than the result in the unstable...The existing articulated arm coordinate measuring machines（AACMM） with one measurement model are easy to cause low measurement accuracy because the whole sampling space is much bigger than the result in the unstable calibration parameters. To compensate for the deficiency of one measurement model, the multiple measurement models are built by the Denavit-Hartenberg＇s notation, the homemade standard rod components are used as a calibration tool and the Levenberg-Marquardt calibration algorithm is applied to solve the structural parameters in the measurement models. During the tests of multiple measurement models, the sample areas are selected in two situations. It is found that the measurement errors＇ sigma value（0.083 4 ram） dealt with one measurement model is nearly two times larger than that of the multiple measurement models（0.043 1 ram） in the same sample area. While in the different sample area, the measurement errors＇ sigma value（0.054 0 ram） dealt with the multiple measurement models is about 40% of one measurement model（0.137 3 mm）. The preliminary results suggest that the measurement accuracy of AACMM dealt with multiple measurement models is superior to the accuracy of the existing machine with one measurement model. This paper proposes the multiple measurement models to improve the measurement accuracy of AACMM without increasing any hardware cost.展开更多
Measuring and reconstructing the shape of workpieces have been considered as a fundamental step in both reverse engineering and product quality control.Owing to increasing structural complexity of recent products,meas...Measuring and reconstructing the shape of workpieces have been considered as a fundamental step in both reverse engineering and product quality control.Owing to increasing structural complexity of recent products,measurements from multiple directions are typically required in current scanning techniques.Specifically,the plane structured light can be applied to measure one area of a part at a time,with an additional algorithm required to merge the collected data of each area.Alternatively,the line structured light sensor integrated on CNC machines or CMMs could also realize multi-view measurement.However,the system needs to be repeatedly calibrated at each new direction.This paper presents a flexible scanning method by integrating laser line sensors with articulated arm coordinate measuring machines(AACMM).Since the output of the laser line sensor is 2D raw data in the laser plane,our system model introduces an explicit transformation from the 2D sensor coordinate frame to the 3D base coordinate frame of the AACMM(i.e.,the translation and rotation the of the 2D sensor coordinate in the sixth coordinate system of AACMM).To solve the model,the“conjugate pairs”are proposed and identified by measuring a fixed point(e.g.,a sphere center).Moreover,a search algorithm is adopted to find the optimal solution,which noticeably boosts the model accuracy.The experimental results show that the error of the system is about 0.2 mm,which is caused by the error of the AACMM,the sensor error and the calibration error.By measuring a complicated part,the proposed system is proved to be flexible and facilitate,with the ability to measure a part expediently from any necessary direction.Furthermore,the proposed calibration method can also be used for robot hand-eye relationship calibration.展开更多
无线片上系统(System on Chip,SoC)已成为物联网产业发展的基础,在现代信息社会中占有越来越重要的地位。但由于通信算法的复杂化、通信协议的多样化,对无线通信设备的要求也在提高。针对此问题,使用Arm®Cortex™-M0处理器设计无线S...无线片上系统(System on Chip,SoC)已成为物联网产业发展的基础,在现代信息社会中占有越来越重要的地位。但由于通信算法的复杂化、通信协议的多样化,对无线通信设备的要求也在提高。针对此问题,使用Arm®Cortex™-M0处理器设计无线SoC,使用先进高性能总线(Advanced High-performance Bus,AHB)与先进外围总线(Advanced Peripheral Bus,APB)连接外设,Msi001芯片采集FM信号后通过解调算法得出解调信号,利用接收信号的强度指示(Received Signal Strength Indicator,RSSI)模块实现FM电台收发和自动搜台,结合液晶显示器(Liquid Crystal Display,LCD)屏、矩阵键盘、数码管等模块实现人机交互,相比传统无线通信设备有更好的音质和更快的响应速度。展开更多
目的探讨关节镜联合C型臂X线机治疗胫骨平台骨折的效果。方法方便选择2017年1月—2022年12月丹阳市人民医院收治的78例胫骨平台骨折患者为研究对象,以随机双盲法分为两组,每组39例。对照组行常规切开复位内固定术,观察组行关节镜联合C型...目的探讨关节镜联合C型臂X线机治疗胫骨平台骨折的效果。方法方便选择2017年1月—2022年12月丹阳市人民医院收治的78例胫骨平台骨折患者为研究对象,以随机双盲法分为两组,每组39例。对照组行常规切开复位内固定术,观察组行关节镜联合C型臂X线机微创内固定术,对两组手术疗效、手术指标、膝关节功能恢复与并发症发生情况进行分析比较。结果观察组手术优良率(97.44%)明显高于对照组(82.05%),差异有统计学意义(χ^(2)=5.014,P<0.05);观察组手术治疗相关指标优于对照组,差异有统计学意义(P均<0.05)。术后6个月两组患者Lysholm、纽约特种外科医院(Hospital for Special Surgery,HSS)评分均升高,且观察组Lysholm、HSS评分明显高于对照组,差异有统计学意义(P均<0.05)。观察组术后并发症总发生率低于对照组,差异有统计学意义(P均<0.05)。结论胫骨平台骨折患者采用关节镜联合C型臂X线机治疗的疗效确切,患者创伤小、术后恢复快、并发症少,且对患者膝关节功能的恢复有着明显的促进作用。展开更多
基金supported by the National Natural Science Foundation of China(No.11472179)
文摘The dynamic behavior of a bridge-erecting machine, carrying a moving mass suspended by a wire rope, is investigated. The bridge-erecting machine is modelled by a simply supported uniform beam, and a massless equivalent ＂spring-damper＂ system with an effective spring constant and an effective damping coefficient is used to model the moving mass suspended by the wire rope. The suddenly applied load is represented by a unitary Dirac Delta function. With the expansion method, a simple closed-form solution for the equation of motion with the replaced spring-damper-mass system is formulated. The characters of the rope are included in the derivation of the differential equation of motion for the system. The numerical examples show that the effects of the damping coefficient and the spring constant of the rope on the deflection have significant variations with the loading frequency. The effects of the damping coefficient and the spring constant under different beam lengths are also examined. The obtained results validate the presented approach, and provide significant references in the design process of bridgeerecting machines.
基金Supported by National Natural Science Foundation of China(Grant No.51265017)Jiangxi Provincial Science and Technology Planning Project,China(Grant No.GJJ12468)Science and Technology Planning Project of Ji’an City,China(Grant No.20131828)
文摘The existing articulated arm coordinate measuring machines（AACMM） with one measurement model are easy to cause low measurement accuracy because the whole sampling space is much bigger than the result in the unstable calibration parameters. To compensate for the deficiency of one measurement model, the multiple measurement models are built by the Denavit-Hartenberg＇s notation, the homemade standard rod components are used as a calibration tool and the Levenberg-Marquardt calibration algorithm is applied to solve the structural parameters in the measurement models. During the tests of multiple measurement models, the sample areas are selected in two situations. It is found that the measurement errors＇ sigma value（0.083 4 ram） dealt with one measurement model is nearly two times larger than that of the multiple measurement models（0.043 1 ram） in the same sample area. While in the different sample area, the measurement errors＇ sigma value（0.054 0 ram） dealt with the multiple measurement models is about 40% of one measurement model（0.137 3 mm）. The preliminary results suggest that the measurement accuracy of AACMM dealt with multiple measurement models is superior to the accuracy of the existing machine with one measurement model. This paper proposes the multiple measurement models to improve the measurement accuracy of AACMM without increasing any hardware cost.
基金National Natural Science Foundation of China(Grant No.42076192).
文摘Measuring and reconstructing the shape of workpieces have been considered as a fundamental step in both reverse engineering and product quality control.Owing to increasing structural complexity of recent products,measurements from multiple directions are typically required in current scanning techniques.Specifically,the plane structured light can be applied to measure one area of a part at a time,with an additional algorithm required to merge the collected data of each area.Alternatively,the line structured light sensor integrated on CNC machines or CMMs could also realize multi-view measurement.However,the system needs to be repeatedly calibrated at each new direction.This paper presents a flexible scanning method by integrating laser line sensors with articulated arm coordinate measuring machines(AACMM).Since the output of the laser line sensor is 2D raw data in the laser plane,our system model introduces an explicit transformation from the 2D sensor coordinate frame to the 3D base coordinate frame of the AACMM(i.e.,the translation and rotation the of the 2D sensor coordinate in the sixth coordinate system of AACMM).To solve the model,the“conjugate pairs”are proposed and identified by measuring a fixed point(e.g.,a sphere center).Moreover,a search algorithm is adopted to find the optimal solution,which noticeably boosts the model accuracy.The experimental results show that the error of the system is about 0.2 mm,which is caused by the error of the AACMM,the sensor error and the calibration error.By measuring a complicated part,the proposed system is proved to be flexible and facilitate,with the ability to measure a part expediently from any necessary direction.Furthermore,the proposed calibration method can also be used for robot hand-eye relationship calibration.
文摘目的探讨关节镜联合C型臂X线机治疗胫骨平台骨折的效果。方法方便选择2017年1月—2022年12月丹阳市人民医院收治的78例胫骨平台骨折患者为研究对象,以随机双盲法分为两组,每组39例。对照组行常规切开复位内固定术,观察组行关节镜联合C型臂X线机微创内固定术,对两组手术疗效、手术指标、膝关节功能恢复与并发症发生情况进行分析比较。结果观察组手术优良率(97.44%)明显高于对照组(82.05%),差异有统计学意义(χ^(2)=5.014,P<0.05);观察组手术治疗相关指标优于对照组,差异有统计学意义(P均<0.05)。术后6个月两组患者Lysholm、纽约特种外科医院(Hospital for Special Surgery,HSS)评分均升高,且观察组Lysholm、HSS评分明显高于对照组,差异有统计学意义(P均<0.05)。观察组术后并发症总发生率低于对照组,差异有统计学意义(P均<0.05)。结论胫骨平台骨折患者采用关节镜联合C型臂X线机治疗的疗效确切,患者创伤小、术后恢复快、并发症少,且对患者膝关节功能的恢复有着明显的促进作用。
