一种新型激光粉尘浓度在线测量仪的研究

本文提出了一种基于光散射原理的粉尘浓度激光测量新方法，该方法无需预先获取粉尘颗粒的平均粒径，可直接测量浓度。基于新方法设计了一套粉尘浓度在线测量仪，测量仪以8031单片机为核心，具有浓度的实时LED显示和数模输出功能，并通过与上位机的串行通信实现浓度数据的后台存储。该仪器具有新颖的光学构造，可在单片机的控制下进行在线标定和在线光路对中，并已用于某钢厂粉尘排放的实时测量，测量结果表明仪器具有良好的灵敏度和可靠性，可满足实时在线测量粉尘浓度的要求。     

基于实时反射率修正的离轴积分腔甲烷测量系统

针对大气CH_4浓度测量中的H_2O干扰以及高反镜反射率的标定问题,提出了一种波长调制离轴积分腔测量系统中反射率实时标定的方法,并结合CH_4浓度免标定反演修正算法解决了CH_4浓度测量中H_2O干扰的问题,实现了大气CH_4浓度的免标定测量。利用该系统对大气CH_4浓度进行了测量,测量得到的大气CH_4平均浓度为1.821 ppmv,标准偏差为0.024 ppmv,时间分辨率为10 s。Allan方差分析表明该测量系统检测限可达4.6 ppbv。因此,该系统可实现大气CH_4浓度的免标定实时测量。     

大尺寸位移测量分析系统标定方法研究

大尺寸位移测量分析系统作为关键测量设备,使用前必须经过系统标定,标定合格方可使用。目前,国内对整套系统的标定方法没有统一的规范,因此,本文对该系统标定方法进行了研究,提出了一种标定方法。结果表明,标定结果符合误差分析。该标定方法为摄影测量相关系统的标定提供了新思路。     

便携式粉尘测试仪的研制

基于光电转换原理,设计了一款便携式粉尘浓度测试仪.为了减小光源两端电压变化对测量的影响,采用两个红外接收二极管,将两路转换信号通过差分放大电路的方法以消除影响.该粉尘测试仪还具有报警和数据传输等功能.通过模拟粉尘浓度试验,说明可将经过光电转换后得到的电压信号与粉尘浓度建立起对应关系,为进一步进行浓度标定奠定了基础.     

微弱光电信号检测电路设计

光电信号检测与采集电路的性能优劣,直接关系到粉尘浓度测量系统的准确度和精确度。在分析研究了光电检测基本原理和微弱信号检测影响因素的基础上,针对粉尘浓度测量系统中光信号的特点,通过采用差分式测量结构,提高光电探测器供电电源的稳定度,选用低噪声、响应快的运算放大器等措施,设计了一种噪声低、反应快、简单实用的微弱光信号检测电路,成功应用到了某粉尘浓度测量系统上。     

基于光纤传感技术的矿井粉尘质量浓度检测

矿井内粉尘不仅对工人的健康具有很大危害,而且较高的粉尘质量浓度会引起爆炸事故。为了测量矿井内的粉尘质量浓度,鉴于光纤传感器的独特优势,提出了基于光纤传感技术的矿井内粉尘质量浓度检测系统。该系统利用光透射法,由双通道检测光路系统组成,利用MATLAB对测量数据进行理论分析,得出拟合曲线及公式。结果表明,系统具有良好的测量准确性和一定的实用价值。     

悬臂式掘进机视觉位姿检测系统外参标定方法

当前巷道掘进过程中高粉尘、低照度等因素严重影响外参标定精度。针对以平行激光线为特征的悬臂式掘进机位姿检测系统外参标定难题,提出一种基于数字全站仪的系统外参标定方法,详细分析系统外参标定误差对测量系统的影响。通过建立视觉位姿测量系统中各模块之间的坐标转换关系,对系统外参标定原理进行数学建模,利用全站仪位姿检测方法得到全站仪系统外参标定结果下机身相对于巷道的位姿,对普通外参标定结果得到的机身相对于巷道位姿进行精度评价。实验结果表明:悬臂式掘进机全站仪系统外参标定方法位置测量误差在 ± 3 mm内,姿态角角度测量误差在0.08°内;利用全站仪系统外参标定方法得到精度结果: x、y和z方向的位置平均误差分别提高了13.073 mm、21.511 mm和18.159 mm,偏航角、俯仰角和姿态角的角度平均误差分别提高了0.225°、0.246°和0.246°。     

机器人立体视觉中摄像机的标定探析

在智能制造领域,工业机器人视觉测量技术应用广泛。针对常见的关节型6自由度工业机器人,采用平面模板法对其系统进行立体视觉标定;通过实验结果与工具箱处理过的结果进行对比,验证了标定的准确性取决于合理选择末端执行器不同姿势。给出了实验过程、标定结果分析,期望该方法为工程实践提供参考。     

基于外环状电荷感应原理的粉尘浓度测量

介绍一种粉尘浓度测量的新方法——电荷感应法。基于外环状电荷感应测量原理,设计了试验测量装置,建立了试验平台,对粉尘浓度与感应电流的关系进行了试验研究。试验结果表明:粉尘浓度与其产生的感应电流呈线性关系,关系式为|Im|=4.15×10-4u0.93C;风速、粉尘粒径对电荷法测量粉尘浓度有影响,风速越大、粒径越小,产生的感应电流越大。     

四路激光跟踪柔性坐标系统绝对零位标定

在激光跟踪干涉三维坐标测量系统中,系统的标定精度直接影响着系统最终测量精度。由于自标定方法的标定精度不高,为了提高系统标定精度,并给出系统的绝对零位值,提出了一种直线法标定思想,利用一个普通的激光干涉仪,测量出目标点沿直线运动的位移量,然后计算出坐标系统的基点坐标和绝对零位值。考虑到基点和目标点的位置布局对系统标定精度的影响,分析并确定了一种优化布局方案,并对其进行仿真。仿真结果表明,目标点对称分布的布局所标定出来的基点坐标和绝对零位值精度较高。     

On the Relation of Load to Average Gap in the Contact Between Surfaces with Longitudinal Roughness

A computer simulation model for the contact between longitudinally-oriented rough surfaces has been formulated. This model closely duplicates the actual surf ace contact deformation behavior by taking into account the elastic interactions between the asperities. There were no assumptions made about the shapes, or any deformation behavior of the asperities, except for their obeying the laws of elasticity. The plastic deformations on the high asperity peaks were taken into account by setting a ceiling on their contact pressures at the material hardness value. The simulations used real surface profiles which were digitized from unworn circumferentially ground steel surfaces. Each pair of these profiles was mathematically combined to form an equivalent rough profile pressing against an infinitely rigid flat and having the appropriately adjusted elastic modulus. A total of 28 different pairs of profiles were used in the simulations. Each contacting pair was subjected to 30 different load levels and the local contact pressures and deformations were calculated. The contact simulations yielded some important mathematical relationships between parameters, such as the real area of contact, average gap, and average asperity load through statistical curve fitting. Two analytical functions were generated to relate the average load to average gap and the real area of contact to load.     

三绕组变压器的双绕组等效建模及在Matpower中的应用

针对实际电网存在着大量的三绕组变压器,但国际上一些著名商业软件,如BPA仿真软件、Matpower这一权威潮流计算开源软件,均只提供双绕组变压器模型,限制了其在具有三绕组变压器的电力系统中的应用的问题,潮流计算是自主开发的电力系统各种应用软件的核心模块,因此依托国际权威开源程序进行二次开发,是一种较好的选择。对Matpower要求的数据格式进行了归纳,对变压器的一般的等值电路及带理想变压器的等值电路和带标幺值的等值电路进行了分析研究,提出了三绕组变压器转换为双绕组等效模型的建模方法,使得原先只适应双绕组变压器的潮流计算软件可以适用于三绕组变压器电网的潮流计算;最后以Matpower软件为例进行了案例计算,并用PSASP仿真软件进行对比验证。研究结果证明,所提出的建模方法是有效的。     

电站锅炉模糊风险评价方法研究与应用

针对电站锅炉风险等级评价问题,将模糊综合评价技术应用到电站锅炉风险等级评价中。开展了电站锅炉失效影响因素及模糊评价因素的重要程度分析,建立了一套科学合理适于在线评价的电站锅炉风险评价体系,提出了模糊综合评价技术与改进的模糊层次分析法相结合的模糊风险评价方法,利用改进的模糊层次分析法计算了指标体系中各层指标权重。对某一台电站锅炉的实际运行工况影响子因素进行了模糊风险评价,采用模糊合成算子进行模糊综合运算得到电了站锅炉运行工况影响子因素的评价向量。研究结果表明:电站锅炉的运行工况影响子因素的风险评价等级为第6级,失效可能性等级为小,该电站锅炉运行工况良好。     

交通荷载作用下桥梁结构参数识别方法

应用动力节点加载法,将作用在桥梁上的交通荷载转化为等效节点荷载,再用两步构造法识别结构物理参数.第1步,用Newmark-β方法变换结构运动方程,并用结构的加速度响应求得变换空间内的位移、速度和加速度响应;第2步,基于最小二乘原理,构造出变换空间内求解结构参数的递推式,进行结构物理参数识别.数值模拟结果表明,在交通荷载作用下,该方法能够快速、准确地进行桥梁结构参数识别.     

Quantum Cooperative Robotics and Autonomy

The intersection of Quantum Technologies and Robotics Autonomy is explored in the present paper.The two areas are brought together in establishing an interdisci...     

RLS and LMS blind adaptive multi-user detection method and comparison in acoustic communication

RLS and LMS blind adaptive multi-user detection algorithm and multi-user detector was proposed to solve the problem of multi-user signal detection problem encountered in underwater acoustic communication networks.In simulation analysis,RLS and the LMS blind adaptive multi-user detector were designed and tested for synchronous and asynchronous multi-user communication process.The results of SIR comparison and MMSE comparison show that,both of the two methods can realize blind adaptive detection when any user change in multi-user communication,during this process,the training communication sequences are not needed.The RLS algorithm has about 5 dB higher in SIR compared with LMS algorithm,and the convergence velocity of RLS algorithm is also higher than LMS algorithm when the communication users change.RLS algorithm has better ability in multi-user detection than that of LMS algorithm,and it has great attraction and guiding significance for solving the problem of multiple access interference(MAI) in multi-user communication.     

考虑进油孔有限长滑动轴承油膜力的近似解析解

针对具有进油孔的有限长滑动轴承油膜力求解问题,采用变分原理和分离变量法,求得了有限长滑动轴承油膜压力分布的近似解析表达式。将油膜压力分布的近似解析表达式在油膜存在区域上进行积分,即得到了油膜力。将提出的计算有限长滑动轴承油膜力方法与无限长轴承模型、有限元方法的计算结果进行了比较,发现了提出的方法与有限元方法的计算结果很接近。最后,研究了进油孔位置和进油压力对油膜存在区域、油膜力等的影响,研究结果表明进油孔位置和进油压力对油膜存在区域和油膜力有较大的影响。     

Robust Impedance Control of Robots Using an Adaptive Interaction Force Observer

For robot interaction control,the interaction force between the robot and the manipulated object or environment should be monitored.Impedance control is a type ...     

Research on key techniques of expendable conductivity temperature depth measuring system

This paper analysis the developing of expendable conductivity temperature depth measuring system(XCTD)and introduce its principle of measuring about temperature,salinity and depth of ocean.Some key techniques are put forward.According to the real needs of XCTD,conductivity sensor with high sensitivity is designed by principle of electromagnetic induce,the ocean conductivity from induced electromotive force has been calculated.Adding temperature correction circuit would help to reduce error of conductivity measurement because of sharply changing temperature.Advanced temperature measuring circuit of high precision and the constant current source is used to weaken effect of self-heating of resistance and fluctuation of the source.On respect of remote data transmission,LVDS is a good choice for the purpose of guarantee the quality of data transmitted and the transmission distance is reaching to thousand meters in the seawater.Modular programming method is also brought into this research aimed at improve the stability,reliability and maintainability of the whole measuring system.In February,2015,the trials in South China Sea demonstrate that the developed XCTD realize effective measurement at a speed of 6 knots and detection depth at 800 m.The consistency coefficient of the acquired data is greater than 0.99 and the success rate of probe launching is above 90%.     

CHARACTERISTCS OF FLUID FILM IN OPTIMIZED SPIRAL GROOVE MECHANICAL SEAL

In order to investigate the sealing performance variation resulted from the thermal deformation of the end faces, the equations to calculate the fluid film pressure distribution, the bearing force and the leakage rate are derived, for the fluid film both in parallel gap and in wedgy gap. The geometrical parameters of the sealing members are optimized by means of heat transfer analysis and complex method. The analysis results indicate that the shallow spiral grooves can generate hydrodynamic pressure while the rotating ring rotates and the bearing force of the fluid film in spiral groove end faces is much larger than that in the flat end faces. The deformation increases the bearing force of the fluid film in flat end faces, but it decreases the hydrodynamic pressure of the fluid film in spiral groove end faces. The gap dimensions which determine the characteristics of the fluid film is obtained by coupling analysis of the frictional heat and the thermal deformation in consideration of the equilibrium condition of the bearing force and the closing force. For different gap dimensions, the relationship between the closing force and the leakage rate is also investigated, based on which the leakage rate can be controlled by adjusting the closing force.