Accuracy Compensation Technology of Closed⁃Loop Feedback of Industrial Robot Joints

The existing kinematic parameter calibration method cannot further improve the absolute positioning accuracy of the robot due to the uncertainty of positioning error caused by robot joint backlash.In view of this problem,a closed‑loop feedback accuracy compensation method for robot joints was proposed.Firstly,a Chebyshev polynomial error estimation model was established which took geometric error and non‑geometric error into account.In addition,the absolute linear grating scale was installed at each joint of the robot and the positioning error of the robot end was mapped to the joint angle.And the joint angle corrected value was obtained.Furthermore,the closed‑loop feedback of robot joints was established to realize the online correction of the positioning error.Finally,an experiment on the KUKA KR210 industrial robot was conducted to demonstrate the effectiveness of the method.The result shows that the maximum absolute positioning error of the robot is reduced by 75%from 0.76 mm to 0.19 mm.This method can compensate the robot joint backlash effectively and further improve the absolute positioning accuracy of the robot.

Optimization Design of Hydraulic Valve Block and Its Internal Flow Channel Based on Additive Manufacturing

Hydraulic valve block is an important part of the hydraulic system.The traditional hydraulic valve block is made by turning and milling,drilling and boring,which leads to many right-angle bending and closed cavity structure of process holes in its internal flow channel,seriously affecting the flow performance of oil.Based on the new design space provided by additive manufacturing technology,the internal hydraulic flow channel of valve block is optimized by using B-spline curve.Computational fluid dynamics analysis is carried out on the hydraulic flow channel to determine the optimal flow channel structure with the smallest pressure drop.The weight reduction of hydraulic valve block is carried out through topology optimization.According to the results of topology optimization,using the method of selective laser melting(SLM),the printing of the hydraulic valve block is completed.The optimized hydraulic channel reduces the pressure loss by 31.4%compared with the traditional hydraulic channel.Compared with the traditional valve block,the hydraulic valve block manufactured by SLM with topology optimization reduces the weight by 33.9%.Therefore,the proposed flow channel optimization and valve block lightweight method provide a new reference for the performance improvement of the internal flow channel of hydraulic valve block and the overall lightweight design of valve block.

Multi-sensors Image Fusion via NSCT and GoogLeNet

In order to improve the detail preservation and target information integrity of different sensor fusion images,an image fusion method of different sensors based on non-subsampling contourlet transform(NSCT)and GoogLeNet neural network model is proposed. First,the different sensors images,i. e.,infrared and visible images,are transformed by NSCT to obtain a low frequency sub-band and a series of high frequency sub-bands respectively.Then,the high frequency sub-bands are fused with the max regional energy selection strategy,the low frequency subbands are input into GoogLeNet neural network model to extract feature maps,and the fusion weight matrices are adaptively calculated from the feature maps. Next,the fused low frequency sub-band is obtained with weighted summation. Finally,the fused image is obtained by inverse NSCT. The experimental results demonstrate that the proposed method improves the image visual effect and achieves better performance in both edge retention and mutual information.

A Robust Method for Adaptive Center Extraction of Linear Structured Light Stripe

In the non-contact measurement using the linear structured light(LSL),the extraction precision of the light stripe center directly affects the measurement accuracy of the whole detection system.To solve the problem that general algorithms cannot accurately extract the center of the light stripe with the uneven width and unstable greyvalue distribution,an adaptive optimization method is proposed.In this method,the stripe region is firstly segmented,and the widths of the laser stripe are calculated by boundary detection.The initial stripe center points are computed by the quadratic weighted grayscale centroid method based on the self-adaptive stripe width.After that,these center points are optimized according to the determined slope threshold.The sub-pixel coordinates of these center points are recalculated.Detailed analysis is also performed in line with the proposed evaluation index of the extraction algorithm.The experimental results show that the mean square error of extracted center points is only 0.1 pixel,meaning that the accuracy of laser stripe center extraction is improved significantly by the method.Furthermore,the method can run effectively at a relatively low computational time cost,and can demonstrate great robustness as well.

Numerical Simulation on Spray Characteristics of Fuel Jet in a Crossflow

Spray performance downward the plain orifice injector was numerically simulated by using Fluent. The primary breakup and the secondary breakup were both focused. To capture the instantaneous interface of two-phase flow and multiscale structure of liquid spray more accurately,an adaptive mesh refinement(AMR) method was adopted. Firstly,the velocity distribution and jet structure were obtained. Then,with different coupled VOF(Volume of Fluid)-DPM(Discrete Phase model)strategies,the jet trajectory,the column breakup point,and the time-average SMD distribution were analyzed and compared. Meanwhile,the experimental data and several empirical formulas were applied to verify the numerical value. The results suggested that the numerical simulation could accord well with experimental data and a certain formula.

Method for Detecting Weld Feature Size Based on Line Structured Light

With the rapid development of the machining and manufacturing industry,welding has been widely used in forming connections of structural parts.At present,manual methods are often used for welding and quality inspection,with low efficiency and unstable product quality.Due to the requirements of visual inspection of weld feature size,a visual inspection system for weld feature size based on line structured light(LSL)is designed and built in this paper.An adaptive light stripe sub-pixel center extraction algorithm and a feature point extraction algorithm for welding light stripe are proposed.The experiment results show that the detection error of the weld width is 0.216 mm,the detection error of the remaining height is 0.035 mm,the single measurement costs 109 ms,and the inspection stability and repeatability of the system is 1%.Our approach can meet the online detection requirements of practical applications.

Improved Whale Optimization Algorithm Based on Mirror Selection

Since traditional whale optimization algorithms have slow convergence speed,low accuracy and are easy to fall into local optimal solutions,an improved whale optimization algorithm based on mirror selection(WOA-MS)is proposed. Specific improvements includes:(1)An adaptive nonlinear inertia weight based on Branin function was introduced to balance global search and local mining.(2) A mirror selection method is proposed to improve the individual quality and speed up the convergence. By optimizing several test functions and comparing the experimental results with other three algorithms,this study verifies that WOA-MS has an excellent optimization performance.

Filtering Method of Aero⁃engine Load Spectrum Based on Rain Flow Counting

A filtering method of aero-engine load spectrum based on the rain flow counting is proposed in this paper.Firstly,the original load spectrum is counted through the rain flow method to get the peak and valley values.Then,some data points in the original load spectrum are added between the peak and valley values.Finally,the filtering spectrum is obtained.The proposed method can reflect the path information of the original load spectrum.In addition,it can also eliminate the noise in the signal and improve the efficiency of signal processing,which is of practical significance for the research of aero-engine.

A Fast Image Matching Algorithm Based on Yolov3

In view of the fact that the traditional Hausdorff image matching algorithm is very sensitive to the image size as well as the unsatisfactory real-time performance in practical applications,an image matching algorithm is proposed based on the combination of Yolov3.Firstly,the features of the reference image are selected for pretraining,and then the training results are used to extract the features of the real images before the coordinates of the center points of the feature area are used to complete the coarse matching.Finally,the Hausdorff algorithm is used to complete the fine image matching.Experiments show that the proposed algorithm significantly improves the speed and accuracy of image matching.Also,it is robust to rotation changes.

Identifying Anomaly Aircraft Trajectories in Terminal Areas Based on Deep Autoencoder and Its Application in Trajectory Clustering

Anomalous trajectory detection and traffic flow classification for complicated airspace are of vital importance to safety and efficiency analysis.Some researchers employed density-based unsupervised machine learning method to exploit these trajectories related to air traffic control(ATC)actions.However,the quality of position data and the tiny density difference between traffic flows in the terminal area make it particularly challenging.To alleviate these two challenges,this paper proposes a novel framework which combines robust deep auto-encoder(RDAE)model and density peak(DP)clustering algorithm.Specifically,the RDAE model is utilized to reconstruct denoising trajectory and identify anomaly trajectories in the terminal area by two different regularizations.Then,the nonlinear components captured by the encoder of RDAE are input in the DP algorithm to classify the global traffic flows.An experiment on a terminal airspace at Guangzhou Baiyun Airport(ZGGG)with anomaly label shows that the proposed combination can automatically capture non-conventional spatiotemporal traffic patterns in the aircraft movement.The superiority of RDAE and combination are also demonstrated by visualizing and quantitatively evaluating the experimental results.

Remaining Useful Life Prediction of Aeroengine Based on Principal Component Analysis and One-Dimensional Convolutional Neural Network

In order to directly construct the mapping between multiple state parameters and remaining useful life(RUL),and reduce the interference of random error on prediction accuracy,a RUL prediction model of aeroengine based on principal component analysis(PCA)and one-dimensional convolution neural network(1D-CNN)is proposed in this paper.Firstly,multiple state parameters corresponding to massive cycles of aeroengine are collected and brought into PCA for dimensionality reduction,and principal components are extracted for further time series prediction.Secondly,the 1D-CNN model is constructed to directly study the mapping between principal components and RUL.Multiple convolution and pooling operations are applied for deep feature extraction,and the end-to-end RUL prediction of aeroengine can be realized.Experimental results show that the most effective principal component from the multiple state parameters can be obtained by PCA,and the long time series of multiple state parameters can be directly mapped to RUL by 1D-CNN,so as to improve the efficiency and accuracy of RUL prediction.Compared with other traditional models,the proposed method also has lower prediction error and better robustness.

A Novel Aircraft Air Conditioning System with a Sterilization Unit by Ultra-High-Temperature Air Stream

An aircraft cabin is a narrow,closed-space environment.To keep the air quality in cabin healthy for passengers,especially during an epidemic such as SARS-CoV-2(or 2019-nCoV)in 2020,a novel aircraft air conditioning system,called the ultra-high-temperature instantaneous sterilization air conditioning system(UHTACS),is proposed.Based on the proposed system,a simulation of the UHT-ACS is analysed in various flight states.In the UHT-ACS,the mixing air temperature of return and bleed air can reach temperature up to 148.8°C,which is high enough to kill bacilli and viruses in 2一8 s.The supply air temperature of the UHT-ACS in a mixing cavity is about 12 C in cooling mode both on the ground and in the air.The supply air temperature is about 42 C in heating mode.Compared with the air conditioning systems(ACS)of traditional aircraft the supply air temperatures of the UHT-ACS in the mixing cavity are in good agreement with those of a traditional ACS with 60%fresh air and 40%return air.Furthermore the air temperature at the turbine outlet of the UHT-ACS is higher than that of a traditional ACS which will help to reduce the risk of icing at the outlet.Therefore the UHT-ACS can operate normally in various flight states.

An Improved Genetic Algorithm for Solving the Mixed⁃Flow Job⁃Shop Scheduling Problem with Combined Processing Constraints

The flexible job-shop scheduling problem(FJSP)with combined processing constraints is a common scheduling problem in mixed-flow production lines.However,traditional methods for classic FJSP cannot be directly applied.Targeting this problem,the process state model of a mixed-flow production line is analyzed.On this basis,a mathematical model of a mixed-flow job-shop scheduling problem with combined processing constraints is established based on the traditional FJSP.Then,an improved genetic algorithm with multi-segment encoding,crossover,and mutation is proposed for the mixed-flow production line problem.Finally,the proposed algorithm is applied to the production workshop of missile structural components at an aerospace institute to verify its feasibility and effectiveness.

Dynamic Interaction of Soil-Isolated Structure:A Systematic Review

Isolation technique of ground structure is a hot topic in the field of earthquake engineering and structure dynamics.Since soil-isolated structure dynamic interaction study is of great significance to enhance seismic performance of isolated structures and revision of relevant isolation specifications,research on dynamic interaction of soil-isolated structure has attracted more and more attention.Based on the basic theory of soil-structure dynamic interaction,we summarize and analyze the research status quo of soil-isolated structure dynamic interaction by means of theoretical analysis,numerical simulation,model test,prototype observation and seismic performance.After reviewing the results of previous research,we reveal that some key issues,which can be used to uncover dynamic interaction mechanism and seismic response characteristics of soil-isolated structures interaction system,should not be neglected.Based on the concept of seismic performance design and the latest research of soil-isolated structure dynamic interaction,we predict the future development of soil-isolated structure dynamic interaction by elastoplastic time history analysis method,seismic performance level and practical analysis method based on energy.

Influence of Refractive Index Distribution on Brillouin Gain Spectrum in GeO_(2)-Doped Optical Fibers

GeO_(2) is commonly used as dopant to adjust the refractive index profile(RIP)and the acoustic velocity profile(AVP)in the fiber,thereby forming different Brillouin gain spectrum(BGS)characteristics such as Brillouin gain,acoustic mode number and peak intensity difference.When an optical fiber is used in optical fiber sensing or communication system,its BGS characteristics may play an important role in determining the performance of the system.In this paper,finite element analysis(FEA)method is used to study the influence of refractive index distribution and its corresponding AVP on the BGS in step-index,graded-index,and complex-index optical fibers.A new method has also been proposed to efficiently discriminate acoustic mode solution and obtain the new and full images of total Brillouin gain and acoustic modes number of the fiber as a function of the refractive index distribution,considering the influence of changing the refractive index difference and the geometric size simultaneously.For each type of optical fiber,the recommended parameter range is provided for optical fiber sensing and optical fiber communication.Moreover,the suitable optical fiber with close peak intensity in its multi-peak BGS is explored and achieved,which can be used in Brillouin beat spectrum detection systems to improve sensing accuracy.

Design of Wind Turbine Torque Controller with Second‑Order Integral Sliding Mode Based on VGWO Algorithm

A robust control strategy using the second-order integral sliding mode control(SOISMC)based on the variable speed grey wolf optimization(VGWO)is proposed.The aim is to maximize the wind power extraction of wind turbine.Firstly,according to the uncertainty model of wind turbine,a SOISMC torque controller with fast convergence speed,strong robustness and effective chattering reduction is designed,which ensures that the torque controller can effectively track the reference speed.Secondly,given the strong local search ability of the grey wolf optimization(GWO)and the fast convergence speed and strong global search ability of the particle swarm optimization(PSO),the speed component of PSO is introduced into GWO,and VGWO with fast convergence speed,high solution accuracy and strong global search ability is used to optimize the parameters of wind turbine torque controller.Finally,the simulation is implemented based on Simulink/SimPowerSystem.The results demonstrate the effectiveness of the proposed strategy under both external disturbance and model uncertainty.

A Bilevel Programming Approach for Optimization of Airport Ground Movement

This paper proposes an optimization model for the airport ground movement problem(GMP)based on bilevel programming to address taxi conflicts on the airport ground and to improve the operating safety and efficiency.To solve GMP,an iterative heuristic algorithm is designed.Instead of separately investigating each problem,this model simultaneously coordinates and optimizes the aircraft routing and scheduling.A simulation test is conducted on Nanjing Lukou International Airport(NKG)and the results show that the bilevel programming model can clearly outperform the widely used first-come-first-service(FCFS)scheduling scheme in terms of aircraft operational time under the precondition of none conflict.The research effort demonstrates that with the reduced operating cost and the improved overall efficiency,the proposed model can assist operations of the airports that are facing increasing traffic demand and working at almost maximum capacity.

Identifying Similar Operation Scenes for Busy Area Sector Dynamic Management

Air traffic controllers face challenging initiatives due to uncertainty in air traffic.One way to support their initiatives is to identify similar operation scenes.Based on the operation characteristics of typical busy area control airspace,an complexity measurement indicator system is established.We find that operation in area sector is characterized by aggregation and continuity,and that dimensionality and information redundancy reduction are feasible for dynamic operation data base on principle components.Using principle components,discrete features and time series features are constructed.Based on Gaussian kernel function,Euclidean distance and dynamic time warping(DTW)are used to measure the similarity of the features.Then the matrices of similarity are input in Spectral Clustering.The clustering results show that similar scenes of trend are not ideal and similar scenes of modes are good base on the indicator system.Finally,actual vertical operation decisions for area sector and results of identification are compared,which are visualized by metric multidimensional scaling(MDS)plots.We find that identification results can well reflect the operation at peak hours,but controllers make different decisions under the similar conditions before dawn.The compliance rate of busy operation mode and division decisions at peak hours is 96.7%.The results also show subjectivity of actual operation and objectivity of identification.In most scenes,we observe that similar air traffic activities provide regularity for initiatives,validating the potential of this approach for initiatives and other artificial intelligence support.

Study on Microstructure and Properties of TIG Welded Joint of TC2 Titanium Alloy and Quality Inspection

TIG welding experiments of TC2 titanium alloy sheet was carried out,and the well-formed weld was obtained.After welding process,the cross-section microstructure,mechanical properties,fracture morphology and quality inspection of the joint were studied.The results show that the microstructure of the weld consists of a large number of acicularα′andβblock.The microhardness curve shows that the microhardness value in the fusion zone(FZ)of the joint is significantly higher than that in the heat affected zone(HAZ)and the base metal(BM),and the microhardness of the base metal is the lowest.The tensile strength of the joint is equivalent to that of the base metal,and the fracture morphology shows that the fracture mechanism of the joint is mixed ductile-brittle fracture mode.The weld quality is excellent through chemical inspection,penetrant inspection and X-ray inspection.

Piezoelectric Vibration Control in Wind Tunnel Tests

In wind tunnel tests,long cantilever stings are usually used to support aerodynamic models.However,this kind of sting support system is prone to vibration problems due to its low damping,which limits the test envelope and affects the data quality.It is shown in many studies that the sting vibration can be effectively reduced by using active sting dampers based on piezoelectric actuators.This paper attempts to review the research progress of piezoelectric vibration control in wind tunnel tests,covering the design of active sting dampers,control methods and wind tunnel applications.First of all,different design schemes of active sting dampers are briefly introduced,along with the vibration damping principle.Then,a comprehensive review of the control methods for active sting dampers is presented,ranging from classic control methods,like PID control algorithm,to various intelligent control methods.Furthermore,the applications of active sting dampers and controllers in different wind tunnels are summarized to evaluate their vibration damping effect.Finally,the remaining problems that need to be solved in the future development of piezoelectric vibration control in wind tunnel tests are discussed.