Friction compensation controller for load varying machine tool feed drive

The load applied to a machine tool feed drive changes during the machining process as material is removed. This load change alters the Coulomb friction of the feed drive. Because Coulomb friction accounts for a large part of the total friction the friction compensation control accuracy of the feed drives is limited if this nonlinear change in the applied load is not considered. This paper presents a new friction compensation method that estimates the machine tool load in real time and considers its effect on friction characteristics. A friction observer based on a Kalman filter with load estimation is proposed for friction compensation control considering the applied load change. A specially designed feed drive testbed that enables the applied load to be modified easily was constructed for experimental verification. Control performance and friction estimation accuracy are demonstrated experimentally using the testbed.     

Liner services network design and fleet deployment with empty container repositioning

Transportation demand of shipping container fluctuates due to the seasonality of international trade, thus, every 3–6 months, the liner company has to alter its current liner shipping service network, redeploy ships and design cargo routes with the objective of minimizing the total cost. To solve the problem, the paper presents a mixed integer linear program model. The proposed model incorporates several relevant constraints, such as weekly frequency, the transshipment of cargo between two or more service routes, and transport time. Extensive numerical experiments based on realistic date of Asia–Europe–Oceania shipping operations show that the proposed model can solve real-case problems efficiently by CPLEX. The results demonstrate that the model can reduce ship’s capacity consumption and raise ships’ capacity utilization.     

嵌入式实时操作系统内核混合代码的自动化验证框架

"如何构造高可信的软件系统"已成为学术界和工业界的研究热点.操作系统内核作为软件系统的基础组件，它的安全可靠是构造高可信软件系统的重要环节.为了确保操作系统内核的安全可靠，将形式化方法引入到操作系统内核验证中，提出了一个自动化验证操作系统内核的框架.该验证框架包括：（1）分别对C语言程序和混合语言程序（C语言和汇编语言）进行验证；（2）在混合语言程序验证中，为汇编程序建立抽象模型，并将C语言程序和抽象模型粘合形成基于C语言验证工具可接收的验证模型；（3）从规范中提取性质，基于该自动验证工具，对性质完成自动验证；（4）该框架不限于特定的硬件架构.成功地运用该验证框架对两种不同硬件平台的嵌入式实时操作系统内核μC/OS-II进行了验证.结果显示：利用该框架在对两个不同的硬件平台上内核验证时，框架的可重复利用率很高，高达到88%，虽然其抽象模型需要根据不同的硬件平台进行重构.在对基于这两种平台的操作系统内核验证中，分别发现了10~12处缺陷.其中，在ARM平台上两处与硬件相关的问题被发现.实验表明，该方法对不同硬件平台的同一个操作系统分析验证具有一定的通用性.     

面向草莓抓取的气动四叶片软体抓手研制

农林业中果蔬的自动化采摘需求日趋强烈,末端抓手是实现无损采摘的关键。传统的末端抓手以刚性结构居多,现有的各种柔性抓手也存在抓取力不足、包覆性不佳等缺点。本文以草莓的无损采摘为研究对象,提出将草莓外部轮廓曲线作为设计曲线,设计了一种新型气动四叶片软体抓手。首先,对软体抓手的结构做仿真优化,提出一种安全地附着在目标物表面的设想。然后,在进行草莓表面的最小破坏应力试验的基础上,测试了软体抓手的末端力,验证了其实现无损抓取的可行性。再次,利用动态捕捉技术,研究了软体抓手叶面的弯曲变形规律。最后,选择使用弧线型气体通道的软体抓手进行了草莓抓取测试,结果证明了气动四叶片软体抓手可以实现草莓的无损抓取,抓取成功率达90%,破损率为2%,表明所研制的四叶片软体抓手用于草莓抓取时具有良好的稳定性和实用性,可用于草莓采摘的末端执行器。本研究也可为其他易损果蔬的采摘技术提供理论基础和技术支撑。     

Experimental optimization of power-function-shaped drive pulse for stick-slip piezo actuators

Motion of a stick-slip piezo actuator is generally controlled by the parameters related to its mechanical design and characteristics of the driving pulses applied to piezoceramic shear plates. The goal of the proposed optimization method is to find the driving pulse parameters leading to the fastest and the most reliable actuator operation. In the paper the method is tested on a rotary stick-slip piezo actuating system utilized in an atomic force microscope.The optimization is based on the measurement of the actuator response to driving pulses of different shapes and repetition frequencies at various load forces. To provide it, a computer controlled testing system generating the driving pulses, and detecting and recording the corresponding angular motion response of the actuator by a position sensitive photo detector (PSPD) in real time has been developed. To better understand and interpret the experimental results, supportive methods based on a simple analytical model and numerical simulations were used as well.In this way the shapes of the single driving pulses and values of the load force providing the biggest actuator steps were determined. Generally, the maximal steps were achieved for such a combination of the pulse shapes and load forces providing high velocities at the end of the sticking mode of the actuator motion and, at the same time, lower decelerations during the slipping mode.As for the multiple driving pulses, the pulse shapes and values of repetition frequency ensuring the sticking mode of the actuator motion during the pulse rise time together with the maximum average angular rotor velocity were specified. In this way the effective and stable operation conditions of the actuator were provided.In principle, the presented method can be applied for the testing and optimization of any linear or angular stick-slip actuator.     

Extending SSD Lifespan with Comprehensive Non-Volatile Memory-Based Write Buffers

Journal of Computer Science and Technology - New non-volatile memory (NVM) technologies are expected to replace main memory DRAM (dynamic random access memory) in the near future. NAND flash...     

CO2非混相驱微观实验研究

以大庆榆树林油田扶杨油层为例，利用高温高压微观实验系统，分别在静态和动态条件下应用微观网络模拟技术观察了原油与CO2间的流动现象。通过实验现象，分析了CO2非混相驱驱油机理，并确定了CO2与大庆榆树林原油的拟混相压力。     

-100kV／10MW全固态刚管调制器

介绍了一种 -10 0kV/10MW全固态刚管调制器的方案和工作原理。简要概述了其各个组成部分、调制器的高电位隔离、IGBT驱动电路、辅助供电以及保护电路的设计与原理。与采用电子管为开关的调制器的主要性能指标进行了对比 ,讨论了这种类型调制器在雷达发射机中应用的前景     

混合动力电动汽车用电机及驱动控制器的电磁兼容设计

电机及驱动控制器作为电动汽车的关键部件,其电磁兼容设计对于保证电动汽车的可靠运行非常重要.介绍了国家十五项目中某混合动力轿车用电机及控制器系统的电磁兼容措施,分别从控制电路、信号电缆、功率电路及屏蔽机箱等工程角度进行了分析和设计.该系统的电磁兼容性符合GB/T17619-1998的要求,且已应用于实际混合动力电动汽车,运行情况良好.     

双频抽运提高SBS相位共轭保真度

相位共轭保真度是相位共轭镜技术用于强激光系统中的一个重要指标。采用四波混频加强SBS的方法 ,其相干拍频驱动声子场 ,能提高SBS相位共轭保真度。对于双频单池结构 ,使用列阵相机测量激光束能量远场角分布 ,在SBS转换效率最佳时 ,对相干驱动SBS相位共轭保真度进行了实验研究