Modeling,identification and compensation for geometric errors of laser annealing table简

In order to improve the process precision of an XY laser annealing table, a geometric error modeling, and an identification and compensation method were proposed. Based on multi-body system theory, a geometric error model for the laser annealing table was established. It supports the identification of 7 geometric errors affecting the annealing accuracy. An original identification method was presented to recognize these geometric errors. Positioning errors of 5 lines in the workspace were measured by a laser interferometer, and the 7 geometric errors were identified by the proposed algorithm. Finally, a software-based error compensation method was adopted, and a compensation mechanism was developed in a postprocessor based on LabVIEW. The identified geometric errors can be compensated by converting ideal NC codes to actual NC codes. A validation experiment has been conducted on the laser annealing table, and the results indicate that positioning errors of two validation lines decreased from ±37 μm and ±33 μm to±5 μm and ±4.5 μm, respectively. The geometric error modeling, identification and compensation method presented in this work can be straightforwardly extended to any configurations of 2-dimensional worktable.     

Strain transfer mechanism of passive wireless surface acoustic wave torque sensors using shear lag theory

A shear-lag theory was developed to investigate the strain transfer from the metal substrate to the surface acoustic wave (SAW) resonator through a bonding layer. A three-layer model of host structure-adhesive layer-resonator layer was established. The strain transfer was theoretically analyzed, and the main factors impacting the SAW sensor measurement were studied. The relationship between the sensor response and the individual effect of all these factors under static loads was discussed. Results showed that better accuracy could be achieved with increase in the adhesive stiffness or resonator length, or decrease in the adhesive thickness. The values of the strain transfer rate calculated from the analytical model agreed well with that from the available experiment data.     

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.     

Axis intersection measurement of three-axis turntable with two crosshair targets

In order to measure three-axis intersection error, two crosshair targets were fixed in the inner axis frame of a three-axis turntable. Also a theodolite was used to point its telescope to the targets and to measure the horizontal angles when three axes were on equi-spaced angle positions. The calculation equations of the axis intersection were deduced from the mounting position of the theodolite, positions of two targets, angular positions of three axes, and the measured horizontal angles with the theodolite. Finally, a practical measurement is carried out on a horizontal three-axis turntable and error analysis is conducted.     

Error Analysis of Three Degree-of-Freedom Changeable Parallel Measuring Mechanism

A three degree-of-freedom （DOF） planar changeable parallel mechanism is designed by means of control of different drive parameters. This mechanism possesses the characteristics of two kinds of parallel mechanism. Based on its topologic structure, a coordinate system for position analysis is set-up and the forward kinematic solutions are analyzed. It was found that the parallel mechanism is partially decoupled. The relationship between original errors and position-stance error of moving platform is built according to the complete differential-coefficient theory. Then we present a special example with theory values and errors to evaluate the error model, and numerical error solutions are gained. The investigations concentrating on mechanism errors and actuator errors show that the mechanism errors have more influences on the position-stance of the moving platform. It is demonstrated that improving manufacturing and assembly techniques can greatly reduce the moving platform error. The small change in position-stance error in different kinematic positions proves that the error-compensation of software can improve considerably the precision of parallel mechanism.     

Error Model of Rotary Ring Laser Gyro Inertial Navigation System

To improve the precision of inertial navigation system (INS) during long time operation, the rotation modulated technique (RMT) was employed to modulate the errorr of the inertial sensors into periodically varied signals, and, as a result, to suppress the divergence of INS errors. The principle of the RMT was introduced and the error propagating functions were derived from the rotary navigation equation. Effects of the measurement error for the rotation angle of the platform on the system precision were analyzed. The simulation and experimental results show that the precision of INS was ① dramatically improved with the use of the RMT, and ② hardly reduced when the measurement error for the rotation angle was in arc-second level. The study results offer a theoretical basis for engineering design of rotary INS.     

Methods for optical phase retardation measurement:A review

Optical-phase-retardation elements are widely used in many fields.Accurate measurement of their phase retardation is crucial to the practical effect of the element’s processing and application.The development and present situation of the methods for optical phase retardation measurement are reviewed,with the wave plate,the most typical phase-retardation element,as an example.The latest research progress in this field is introduced;the principles and characteristics of individual measurement method are summarized and discussed.Three new methods based on laser frequency splitting or laser feedback are presented in detail,in which the laser is not only regarded as a light source but also plays a role of sensor.Moreover,no standard wave plates are needed and arbitrary phase retardation can be measured.Traceability,high precision and high repeatability are achieved as well.     

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.     

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.     

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.     

Parametric analysis of steel plated shear structures

Due to outstanding ductility and high strength, the steel plate shear wall （SPSW） is recognized as a good lateral system for building structures; particularly as it interacts with earthquake resistant design. This study aims to reveal the dynamic and cyclic behavior of steel plated shear wall. Finite element method of analysis was implemented in order to simulate the behavior of such a wall structure. To determine the dynamic behavior of un-stiffened plate shear wall, two different analytical models were implemented The post buckling strength of steel plate subjected to lateral loading was also employed. The story shear-drift diagrams of steel shear wall system were presented. The strength and ductility of the system obtained from the analysis were compared with those of steel shear wall tests reported before. The pertinent parameters of the steel shear wall system such as plate thickness, column and beam stiffness and the plate aspect ratio were recognized and their effects were recorded. The effect of stiffeners on the behavior of the SPSW was also investigated.     

Loaded multi-tooth contact analysis and calculation for contact stress of face-gear drive with spur involute pinion

The analytical method based on "Hertz theory on normal contact of elastic solids" and the numerical method based on finite element method (FEM) calculating the contact stress of face-gear drive with spur involute pinion were introduced, and their relative errors are below 10%, except edge contact, which turns out that these two methods can compute contact stress of face-gear drive correctly and effectively. An agreement of the localized bearing contact stress is gotten for these two methods, making sure that the calculation results of FEM are reliable. The loaded meshing simulations of multi-tooth FEM model were developed, and the determination of the transmission error and the maximal load distribution factor of face-gear drive under torques were given. A formula for the maximal load distribution factor was proposed. By introducing the maximal load distribution factor in multi-tooth contact zone, a method for calculating the maximal contact stress in multi-tooth contact can be given. Compared to FEM, the results of these formulae are proved to be reliable, and the relative errors are below 10%.     

Sensor Registration Based on Neural Network in Data Fusion

The contents of sensor registration in the multi-sensor data fusion system are introduced, and some existing methods are analyzed. Then, one approach to sensor registration based on BP neural network is proposed. Here the measurements from radar are transformed from the polar coordinate system to the Cartesian coordinate through a BP neural network. With this approach, the systematic errors are removed as well as the coordinate is transformed. The efficiency of this method is demonstrated by simulation, and the result show that this approach could remove the systematic errors effectively and the DAR are closer to real position than DBR.     

Semi-Direct Visual Odometry and Mapping System with RGB-D Camera

In this paper a semi-direct visual odometry and mapping system is proposed with a RGB-D camera, which combines the merits of both feature based and direct based methods. The presented system directly estimates the camera motion of two consecutive RGB-D frames by minimizing the photometric error. To permit outliers and noise, a robust sensor model built upon the t-distribution and an error function mixing depth and photometric errors are used to enhance the accuracy and robustness. Local graph optimization based on key frames is used to reduce the accumulative error and refine the local map. The loop closure detection method, which combines the appearance similarity method and spatial location constraints method, increases the speed of detection. Experimental results demonstrate that the proposed approach achieves higher accuracy on the motion estimation and environment reconstruction compared to the other state-of-the-art methods. Moreover, the proposed approach works in real-time on a laptop without a GPU, which makes it attractive for robots equipped with limited computational resources.     

Morphology and orientation relationship of VC precipitates in HSLA steel

The morphology and distribution of VC precipitates in HSLA steel as well as the orientation relationship between VC precipitate and α-Fe were studied by transmission electron microscopy (TEM). The chemical composition of the VC precipitate was analyzed qualitatively by using analytical electron microscopy (AEM) equipped with an energy dispersive spectrum (EDS) system. The VC precipitate is needle-like in shape with a size of about 10 nm in length and is homogeneously dispersed in the α-Fe matrix.The smaller lattice misfit along the 〈100〉 lattice direction of α-Fe matrix leads to VC precipitate forming with its long axes nearly parallel to the 〈100〉 lattice direction of α-Fe matrix. It is confirmed that the orientation relationship between VC precipitate and α- Fe is the "N-W" orientation relation by selected area electron diffraction (SAED) patterns.     

Improvement of light uniformity by lighting arrangement for standardized crop production

In a commercialized, fully artificial plant factory, artificial luminaire is arranged in a unified way using a general illumination theory, an actual measurement, or an empirical methodology. However, with these methods, lightings are implemented without considering specific optical characteristics of lighting or material characteristics of each component that constructs a cultivation system, resulting in an amount of light that becomes irregular. The amount of lighting is closely related with the growth and quality of crops, and the deviation between points where cultivated crops are located causes quality difference in the produced crops, thus impairing the economic feasibility of a plant factory. In this regard, a simulation to figure out an optimum lighting layout was performed. Arrangements based on the spectrum distribution of light source and reflector materials were implemented to ascertain the distance between lighting and height of lighting and gather information in the pre-treatment process to improve the uniformity of light in the plant cultivation system. Improvement of around 15% in light uniformity is achieved compared with the existing system after the simulation is carried out. This result would reduce the deviation in crop growth to make uniform quality crop production possible.     

Fuzzy adaptive Kalman filter for indoor mobile target positioning with INS/WSN integrated method

Pure inertial navigation system(INS) has divergent localization errors after a long time. In order to compensate the disadvantage, wireless sensor network(WSN) associated with the INS was applied to estimate the mobile target positioning. Taking traditional Kalman filter(KF) as the framework, the system equation of KF was established by the INS and the observation equation of position errors was built by the WSN. Meanwhile, the observation equation of velocity errors was established by the velocity difference between the INS and WSN, then the covariance matrix of Kalman filter measurement noise was adjusted with fuzzy inference system(FIS), and the fuzzy adaptive Kalman filter(FAKF) based on the INS/WSN was proposed. The simulation results show that the FAKF method has better accuracy and robustness than KF and EKF methods and shows good adaptive capacity with time-varying system noise. Finally, experimental results further prove that FAKF has the fast convergence error, in comparison with KF and EKF methods.     

Research and application on three-dimensional seismic and vibration isolation for building

This paper presents the study of a three-dimensional(3D) isolation system.Firstly,the authors investigated the effects of an innovative 3D isolator,which was composed of a connecting plate,a rubber pad for vibration isolation in the vertical direction and a horizontal rubber bearing for seismic isolation in both horizontal directions.Secondly,the authors designed such a vibration isolation system and installed it underneath two specific residential buildings which were built directly over an existing subway communication hub platform in Beijing.These buildings required good performance vibration and seismic isolation system to reduce the impact from the running of nearby subway trains.Finally,in situ tests were conducted for both the isolated and the non-isolated buildings for the purpose of comparison.The test results showed that the maximum acceleration response level of the isolated superstructure is reduced by 10% as compared to that of the platform.The maximum attenuation of vibration reaches up to 25 dB.The 3D system explored in this paper is very effective in control and suppression of building vibration induced by earthquakes or running of trains.     

Signal processing for all fiber optical current transducer

The work principle of all fiber optical current transducer (AFOCT) was introduced. By analyzing the characteristic of photo-detector’s output, a measurement and signal processing scheme based on sine wave modulation and demodulation was put forward for eliminating the influence of light intensity change and modulation degree change. A digital signal processing system and a calibration scheme were also advanced. The experimental data show that the mean ratio error is 0.016 74% for direct current and 0.035% for alternating current, and the correlation coefficient of linearity is up to 0.999 982 4, meeting the precision requirement of 0.2 grade. Stability experiments and temperature drift experiments show the AFOCT has a better stable capability.     

Quantitative study of atmospheric effects in spaceborne InSAR measurements

Atmospheric effects on interferometric synthetic aperture radar（InSAR） measurements are quantitatively studied based on a tandem pair of SAR data and a month-long continuous GPS tracking data obtained at six stations. Differential atmospheric signals extracted from the SAR data for two selected areas show apparent power law characteristics. The RMS values of the signals are 2.04 and 3.66 rad respectively for the two areas. These differential delays can potentially cause in the two areas peak-to-peak deformation errors of 3.64 and 6. 52 cm, respectively, at the 95% confidence level and Gaussian distribution. The respective potential peak-to-peak DEM errors are 123 and 221 m. The GPS tropospheric total zenith delays estimate indicates that a peak-to-peak error of about 7.8 cm can potentially be caused in a SAR interferogram with only 1 d interval at the 95% confidence level. The error increases to about 9.6 cm for 10 d interval. The potential peak-to-peak DEM and deformation errors estimated from GPS total zenith delay measurements are however quite similar to those estimated from InSAR data. This provides us with a useful tool to pre-estimate the potential atmospheric effects in a SAR interferogram before we order the SAR images. Nevertheless, the results reveal that even in a small area the atmospheric delays can obscure centimetre level ground displacements and introduce a few hundred meters of errors to derived DEM.