Parameter identification of inertially stabilized platforms using current command design

Accurate parameter identification is essential when designing controllers for inertially stabilized platforms (ISPs). But traditional identification methods suffer from observation measurement noise and operating restrictions of ISPs. To address this issue, a novel identification method based on current command design and multilevel coordinate search (MCS) algorithm without any higher order measurement differentiations was proposed. The designed current commands were adopted to obtain parameter decoupled models with the platform operating under allowable conditions. MCS algorithm was employed to estimate the parameters based on parameter decoupled models. A comparison experiment between the proposed method and non-linear least square method was carried out and most of the relative errors of identified parameters obtained by the proposed method were below 10%. Simulation and experiment based on identified parameters were conducted. A velocity control structure was also developed with disturbance observer (DOB) for application in disturbance compensation control system of an ISP. Experimental results show that the control scheme based on the identified parameters with DOB has the best disturbance rejection performance. It reduces the peak to peak value (PPV) of velocity error integral to 0.8 mrad which is much smaller than the value (10 mrad) obtained by the single velocity controller without DOB. Compared with the control scheme based on sweep model with DOB compensation, the proposed control scheme improves the PPV of velocity error integral by 1.625 times.     

Prestiction friction compensation in direct-drive mechatronics systems

LuGre model has been widely used in friction modeling and compensation. However, the new friction regime, named prestiction regime, cannot be accurately characterized by LuGre model in the latest research. With the extensive experimental observations of friction behaviors in the prestiction, some variables were abstracted to depict the rules in the prestiction regime. Based upon the knowledge of friction modeling, a novel friction model including the presliding regime, the gross sliding regime and the prestiction regime was then presented to overcome the shortcomings of the LuGre model. The reason that LuGre model cannot estimate the prestiction friction was analyzed in theory. Feasibility analysis of the proposed model in modeling the prestiction friction was also addressed. A parameter identification method for the proposed model based on multilevel coordinate search algorithm was presented. The proposed friction compensation strategy was composed of a nonlinear friction observer and a feedforward mechanism. The friction observer was designed to estimate the friction force in the presliding and the gross sliding regimes. And the friction force was estimated based on the model in the prestiction regime. The comparative trajectory tracking experiments were conducted on a simulator of inertially stabilization platforms among three control schemes： the single proportional-derivative （PD） control, the PD with LuGre model-based compensation and the PD with compensator based on the presented model. The experimental results reveal that the control scheme based on the proposed model has the best tracking performance. It reduces the peak-to-peak value （PPV） of tracking error to 0.2 mrad, which is improved almost 50% compared with the PD with LuGre model-based compensation. Compared to the single PD control, it reduces the PPV of error by 66.7%.     

Analysis and modeling of error of spiral bevel gear grinder based on multi-body system theory

Six-axis numerical control spiral bevel gear grinder was taken as the object, multi-body system theory and Denavit-Hartenberg homogeneous transformed matrix （HTM） were utilized to establish the grinder synthesis error model, and the validity of model was confirmed by the experiment. Additionally, in grinding wheel tool point coordinate system, the errors of six degrees of freedom were simulated when the grinding wheel revolving around C-axis, moving along X-axis and Y-axis. The influence of these six errors on teeth space, helix angle, pitch, teeth profile was discussed. The simulation results show that the angle error is in the range from -0.148 4 tad to -0.241 9 rad when grinding wheel moving along X, Y-axis; the translation error is in the range from 0.866 0 μm to 3.605 3μm when grinding wheel moving along X-axis. These angle and translation errors have a great influence on the helix angle, pitch, teeth thickness and tooth socket.     

Research on Positioning Error Compensation for Micro Milling Machine Tool

Micro milling has many advantages in fabricating three-dimensional （3D） structure in micrometer scale. The micro milling machine tool with high positioning accuracy is of great importance for getting micro structure with high profile precision and good surface quality. Meanwhile, the method of position error compensation is a good way to improve the accuracy of the micro milling machine tools. In this paper, a software method is adopted to compensate the positioning error and improve the positioning accuracy. According to error cancellation theory, the compensation values are generated and compensation tables are built to adjust the positioning error in the NC system based on Industrial Motion and Automation Control （IMAC）. The positioning accuracy of linear motor is ±0. 3 μm without backlash after compensation. In order to verify the effectiveness of compensation on the machining performance, concave spherical surfaces are processed on the micro milling machine tool. The experimental results show that the profile radius error of the spherical surface machined with compensation decreases more than 60%.     

A Method for Identification and Compensation of Machining Errors of Digital Gear Tooth Surfaces

In order to generate the digital gear tooth surfaces(DGTS)with high efficiency and high precision,a method for identification and compensation of machining errors is demonstrated in this paper.Machining errors are analyzed directly from the real tooth surfaces.The topography data of the part are off-line measured in the post-process.A comparison is made between two models:CAD model of DGTS and virtual model of the physical measured surface.And a matching rule is given to determine these two surfaces in an appropriate fashion.The developed error estimation model creates a point-to-point map of the real surface to the theoretical surface in the normal direction.A“pre-calibration error compensation”strategy is presented.Through processing the results of the first trail cutting,the total compensation error is predicted and an imaginary digital tooth surface is reconstructed. The machining errors in the final manufactured surfaces are minimized by generating this imaginary surface.An example of ma- chining 2-D DGTS verifies the developed method.The research is of important theoretical and practical value to manufacture the DGTS and other digital conjugate surfaces.     

Novel method to calibrate kinematic parameters for mobile robots

In order to reduce the system errors of dead reckoning and improve the localization accuracy,a new model for systematic error of mobile robot was defined and a UMBmark-based method for calibrating and compensating systematic error was presented. Three dominant reasons causing systematic errors were considered: imprecise average wheel diameter,uncertainty about the effective wheelbase and unequal wheel’s diameter. The new model for systematic errors is considering the coupling effect of the three factors during the localization of mobile robot. Three coefficients to calibrate average wheel diameter,effective wheelbase,left and right wheels’ diameter were obtained. Then these three coefficients were used to make improvements on robot kinematic equations.The experiments on the dual-wheel drive mobile robot DaNI show that the presented method has achieveda significant improvement in the location accuracy compared with the UMBmark calibration.     

Sensor array calibration for uniform rectangular array in presence of mutual coupling and sensor gain-and-phase errors

The sensor array calibration methods tailored to uniform rectangular array （URA） in the presence of mutual coupling and sensor gain-and-phase errors were addressed. First, the mutual coupling model of the URA was studied, and then a set of steering vectors corresponding to distinct locations were numerically computed with the help of several time-disjoint auxiliary sources with known directions. Then, the optimization modeling with respect to the array error matrix （defined by the product of mutual coupling matrix and sensor gain-and-phase errors matrix） was constructed. Two preferable algorithms （called algorithm I and algorithm II） were developed to minimize the cost function. In algorithm I, the array error matrix was regarded as a whole parameter to be estimated, and the exact solution was available. Compared to some existing algorithms with the similar computation framework, algorithm I can make full use of the potentially linear characteristics of URA＇s error matrix, thus, the calibration precision was obviously enhanced. In algorithm II, the array error matrix was decomposed into two matrix parameters to be optimized. Compared to algorithm I, it can further decrease the number of unknowns and, thereby, yield better estimation accuracy. However, algorithm II was incapable of producing the closed-form solution and the iteration operation was unavoidable. Simulation results validate the excellent performances of the two novel algorithms compared to some existing calibration algorithms.     

High-precision method of detecting motion straightness based on plane mirror interference

A high-precision method of detecting motion straightness was proposed based on the principle of plane mirror interference after analyzing the motion straightness error of a linear stage. Detection experiments were carried out and the motion straightness errors were separated by the linear regression method. Finally, linear measurement uncertainty of the detection method was estimated. The results showed that this detection method was simple and accurate, and was especially suitable for precision detection of motion straightness error in the small travel movement of ultra-precision machining.     

Robustness and precision evaluation of the form error of micro-structured surfaces using real coded genetic algorithm

To obtain the form error of micro-structured surfaces robustly and accurately, a form error evaluation method was developed based on the real coded genetic algorithm (RCGA). The method employed the average squared distance as the matching criterion. The point to surface distance was achieved by use of iterative method and the modeling of RCGA for the surface matching was also presented in detail. Parameter selection for RCGA including the crossover rate and population size was discussed. Evaluation results of series simulated surfaces without form error show that this method can achieve the accuracy of root mean square deviation (Sq)less than 1 nm and surface profile error (St)less than 4 nm. Evaluation of the surfaces with different simulated errors illustrates that the proposed method can also robustly obtain the form error with nano-meter precision. The evaluation of actual measured surfaces further indicates that the proposed method is capable of precisely evaluating micro-structured surfaces.     

Geometric precision evaluation methodology of multiple reference station network algorithms

To evaluate the performance of real time kinematic (RTK) network algorithms without applying actual measurements, a new method called geometric precision evaluation methodology (GPEM) based on covariance analysis was presented. Three types of multiple reference station interpolation algorithms, including partial derivation algorithm (PDA), linear interpolation algorithms (LIA) and least squares condition (LSC) were discussed and analyzed. The geometric dilution of precision (GDOP) was defined to describe the influence of the network geometry on the interpolation precision, and the different GDOP expressions of above-mentioned algorithms were deduced. In order to compare geometric precision characteristics among different multiple reference station network algorithms, a simulation was conducted, and the GDOP contours of these algorithms were enumerated. Finally, to confirm the validation of GPEM, an experiment was conducted using data from Unite State Continuously Operating Reference Stations (US-CORS), and the precision performances were calculated according to the real test data and GPEM, respectively. The results show that GPEM generates very accurate estimation of the performance compared to the real data test.     

Enhanced quadrature signaling-based cooperative transmission with full rate and full diversity

Quadrature signaling-based cooperative transmission is an efficient and simple scheme to obtain spatial diversity. However, this scheme causes date rate loss compared with direct transmission. In this work, our focus is on recovering from the data rate loss while simultaneously achieving spatial diversity. Particularly, an enhanced quadrature signaling-based cooperative scheme was designed, which can realize full-rate transmission by using the signal space diversity （SSD） technique. Then, accurate bit error rate （BER） expression for the full-rate scheme was derived over independent and non-identically distributed （INID） Rayleigh fading channels. Specifically, a closed-form BER expression is obtained, which is quite tight over the whole SNR range, and thus allows for rapid and efficient evaluation of system performance under various channel conditions. Moreover, an asymptotic approximation of the BER was derived to show that the full-rate scheme can achieve full diversity. Simulation results verify the tightness of the analysis and show that the full-rate scheme significantly outperforms the traditional quadrature signaling-based scheme by about 2 dB with the same complexity order.     

A novel SINR and mutual information based radar jamming technique

The improvements of anti-jamming performance of modem radar seeker are great threats to military targets. To protect the target from detection and estimation, the novel signal-to-interference-plus-noise ratio （SINR）-based and mutual information （Ml）-based jamming design techniques were proposed. To interfere with the target detection, the jamming was designed to minimize the S1NR of the radar seeker. To impair the estimation performance, the mutual information between the radar echo and the random target impulse response was used as the criterion. The spectral of optimal jamming under the two criteria were achieved with the power constraints. Simulation results show the effectiveness of the jamming techniques. SINR and MI of the SINR-based jamming, the MI-based jamming as well as the predefined jamming under the same power constraints were compared. Furthermore, the probability of detection and minimum mean-square error （MMSE） were also utilized to validate the jamming performance. Under the jamming power constraint of I W, the relative decrease of the probability of detection using S1NR-based optimal jamming is about 47%, and the relative increase of MMSE using Ml-based optimal jamming is about 8%. Besides, two useful jamming design principles are concluded which can be used in limited jamming power situations.     

Effect analysis of friction and damping on anti-backlash gear based on dynamics model with time-varying mesh stiffness

A nonlinear model of anti-backlash gear with time-varying friction and mesh stiffness was proposed for the further study on dynamic characteristics of anti-backlash gear. In order to improve the model precision, applied force analysis was completed in detail, and single or double tooth meshing states of two gear pairs at any timing were determined according to the meshing characteristic of anti-backlash gear. The influences of friction and variations of damping ratio on dynamic transmission error were analyzed finally by numerical calculation and the results show that anti-backlash gear can increase the composite mesh stiffness comparing with the mesh stiffness of the normal gear pair. At the pitch points where the frictions change their signs, additional impulsive effects are observed. The width of impulsive in the same value of center frequency is wider than that without friction, and the amplitude is lower. When gear pairs mesh in and out, damping can reduce the vibration and impact.     

Energy efficiency enhancement of two-way amplifier forward relaying with channel estimation error简

In order to save energy consumption of two-way amplifier forward （AF） relaying with channel estimation error, an energy efficiency enhancement scheme is proposed in this work. Firstly, through the analysis of two-way AF relaying mode with channel estimation error, the resultant instantaneous SNRs at end nodes is obtained. Then, by using a high SNR approximation, outage possibility is acquired and its simple closed-form expression is represented. Specially, for using the energy resource more efficiently, a low-complexity power allocation and transmission mode selection policy is proposed to enhance the energy efficiency of two-way AF relay system. Finally, relay priority region is identified in which cooperative diversity energy gain can be achieved. The computer simulations are presented to verify our analytical results, indicating that the proposed policy outperforms direct transmission by an energy gain of 3 dB at the relative channel estimation error less than 0.001. The results also show that the two-way AF relaying transmission loses the two-way AF relaying transmission loses its superiority to direct transmission in terms of energy efficiency when channel estimation error reaches 0.03.     

Preparation and visible-light photocatalytic property of nanostructu- red Fe-doped TiO2 from titanium containing electric furnace molten slag

Nanostructured Fe-doped titanium dioxide was synthesized from titanium containing electric furnace molten slag （TCEFMS） by using an alkali fusion, followed by a hydrolyzation-acidolysis-cMcination route. The effects of Mkali/slag mass ratio, calcinating temperature, calcinating time, and water/slag mass ratio on the extraction efficiency and purity of products were systematically studied in this paper. It is indicated that the best extraction efficiency of nanostructured Fe- doped titanium dioxide is 99.35%, when the molten slag is calcinated at 700℃ for 1 h with the mass ratio of alkali/molten slag of 1.5：1. The influence of alkali/slag mass ratio on the photocatalytic activity of final products was evaluated by the photodegradation of methyl blue under visible light irradiation. A maximum photodegradation efficiency of 88.12% over 30 min was achieved under the optimum conditions.     

Martensitic transformation and magnetic properties of aged Ni-Fe-Ga-Ti shape memory alloy

This article reports the effect of ageing on the microstructure, martensitic transformation, magnetic properties, and mechanical properties of Ni51FelsGa27Ti4 shape memory alloy. There are five specimens of this alloy aged at 573 up to 973 K for 3 h per each. This range of ageing temperature greatly affects the microstructure of the alloy. As the ageing temperature increased from 573 up to 973 K, the microstructure of Ni51FelsGa27Ti4 alloy gradually changed from the entirely martensitic matrix at 573 K to the fully austenitic microstructure at 973 K. The volume fraction of precipi- tated Ni3Ti particles increased with the ageing temperature increasing from 573 to 773 K. Further increasing the ageing temperature to 973 K decreased the content of Ni3Ti in the microstructure. The martensitic transformation tempera- ture was decreased steadily by increasing the ageing temperature. The magnetization saturation, remnant magnetization, and coercivity increased with the ageing temperature increasing up to 773 K. A further increase in ageing temperature decreased these raagnetic properties. Moreover, the hardness values were gradually increased at first by increasing the ageing temperature to 773 K, and then dramatically decreased to the lowest value at 973 K.     

Microstructural and mechanical properties of A1-4.5wt% Cu rein- forced with alumina nanoparticles by stir casting method

The microstructure and mechanical properties of A1-4.5wt% Cu Mloy reinforced with different volume fractions （1.5vo1%, 3vo1%, and 5vo1%） of alumina nanoparticles, fabricated using stir casting method, were investigated. CMculated amounts of alumina nanoparticles （about ~50 nm in size） were ball-milled with aluminum powders in a planetary ball mill for 5 h, and then the packets of milled powders were incorporated into molten Al-4.5wt% Cu alloy. Microstructural studies of the nanocomposites reveal a uniform distribution of alumina nanoparticles in the A1-4.5wt% Cu matrix. The results indicate an outstanding improvement in compression strength and hardness due to the effect of nanoparticle addition. The aging behavior of the composite is also evaluated, indicating that the addition of alumina nanoparticles can accelerate the aging process of the Mloy, resulting in higher peak hardness values.     

Preparation of CaO-Al2O3-SiO2 system glass from molten blast furnace slag

To use the potential heat of molten blast furnace slag completely, a CaO-Al2O3-SiO2 system glass （MSG） was prepared from the molten industrial slag. The corresponding method proposed in this study utilized both slag and its potential heat, improving the production rate and avoiding the environmental pollution. Using appropriate techniques, an MSG with uniform color and superior performances was produced. Based on the experimental results and phase diagram, the chemical composition of MSG by mass is obtained as follows：CaO 27%-33%, SiO2 42%-51%, Al2O3 11%-14%, MgO 6%-8%, and Na2O＋K2O 1%-4%. Thermodynamic processes of MSG preparation were analyzed, and the phases and microstructures of MSG were investigated by X-ray diffraction （XRD） and scanning electron microscopy （SEM）. The results show that alkali metal oxides serve as the fluxes, calcium oxide serves as the stabilizer, and alumina reinforces the Si-O network. XRD and SEM analyses show that, the prepared MSG displays the glass-feature patterns, the melting process is more complete, and the melt viscosity is lowered with an increase in calcium oxide content;however, a continuous increase in slag content induces the crystalli-zation of glass, leading to the formation of glass subphase. The optimum content of molten slag in MSG is 67.37wt%. With respect to bend-ing strength and acid/alkali resistance, the performance of MSG is better than that of ordinary marble.     

Effect of some operational variables on bubble size in a pilot-scale mechanical flotation machine简

This work aims to provide a relationship of how the key operational variables of frother type and impeller speed affect the size of bubble （D32）. The study was performed using pilot-scale equipment （0.8 m^3） that is up to two orders of magnitude larger than equipment used for studies performed to date by others, and incorporated the key process variables of frother type and impeller speed. The results show that each frother family exhibits a unique CCC95-HLB relationship dependent on n （number of C-atoms in alkyl group） and m （number of propylene oxide group）. Empirical models were developed to predict CCC95 from HLB associated with other two parameters a and ft. The impeller speed-bubble size tests show that D32 is unaffected by increased impeller tip speed across the range of 4.6 to 9.2 m/s （representing the industrial operating range）, although D32 starts to increase below 4.6 m/s. The finding is valid for both coalescing and non-coalescing conditions. The results suggest that the bubble size and bubble size distribution （BSD） being created do not change with increasing impeller speed in the quiescent zone of the flotation.     

Classification of hyperspectral remote sensing images based on simulated annealing genetic algorithm and multiple instance learning简

A hybrid feature selection and classification strategy was proposed based on the simulated annealing genetic algonthrn and multiple instance learning （MIL）. The band selection method was proposed from subspace decomposition, which combines the simulated annealing algorithm with the genetic algorithm in choosing different cross-over and mutation probabilities, as well as mutation individuals. Then MIL was combined with image segmentation, clustering and support vector machine algorithms to classify hyperspectral image. The experimental results show that this proposed method can get high classification accuracy of 93.13% at small training samples and the weaknesses of the conventional methods are overcome.