Aiming at the problems of traditional guide devices such as single environmental perception and poor terrain adaptability,this paper proposes an intelligent guide system based on a quadruped robot platform.Data fusion...Aiming at the problems of traditional guide devices such as single environmental perception and poor terrain adaptability,this paper proposes an intelligent guide system based on a quadruped robot platform.Data fusion between millimeter-wave radar(with an accuracy of±0.1°)and an RGB-D camera is achieved through multisensor spatiotemporal registration technology,and a dataset suitable for guide dog robots is constructed.For the application scenario of edge-end guide dog robots,a lightweight CA-YOLOv11 target detection model integrated with an attention mechanism is innovatively adopted,achieving a comprehensive recognition accuracy of 95.8% in complex scenarios,which is 2.2% higher than that of the benchmark YOLOv11 network.The system supports navigation on complex terrains such as stairs(25 cm steps)and slopes(35°gradient),and the response time to sudden disturbances is shortened to 100 ms.Actual tests show that the navigation success rate reaches 95% in eight types of scenarios,the user satisfaction score is 4.8/5.0,and the cost is 50% lower than that of traditional guide dogs.展开更多
Delayed liver laceration following transjugular intrahepatic portosystemic shunt (TIPS) is a serious and likely underdiagnosed complication. It is however an important complication following TIPS, which remains one of...Delayed liver laceration following transjugular intrahepatic portosystemic shunt (TIPS) is a serious and likely underdiagnosed complication. It is however an important complication following TIPS, which remains one of the most technically challenging interventional procedures performed. In addition to laceration, a number of complications regarding bleeding and perforation are well described following TIPS procedures. We feel the adoption of techniques such as ours and that of other authors described in the literature using an ultrasoundguided percutaneous transhepatic approach with a small caliber needle provides a safer and less traumatic procedure and should reduce complications of bleeding and almost completely eliminate the risk of liver laceration. Our procedure was successfully performed under conscious sedation rather than general anaesthesia further reducing the overall procedural risk to the patient.展开更多
AIM: To evaluate accuracy of axis alignment and refractive results of toric phakic intraocular lens(IOL) implantation using a digital imaging system. METHODS: This retrospective study investigated toric implantable co...AIM: To evaluate accuracy of axis alignment and refractive results of toric phakic intraocular lens(IOL) implantation using a digital imaging system. METHODS: This retrospective study investigated toric implantable collamer lens(ICL) implantation in 30 eyes of 21 patients with myopic astigmatism more than 2.0 D guided with digital imaging system. Data were collected during the first week after phakic IOL implantation.RESULTS: Thirty eyes of 21 patients were included in our study. Patients includes 9 males and 12 females. The mean age of the patients was 26.5±7.1(range 21-44)y. The mean preoperative manifest astigmatism was 3.2±1.7(range from 2.25 to 4.75) D. The mean postoperative uncorrected distance visual acuity(UCDVA) were 0.07±0.07(range from 0.1 to 0.0) log MAR. The mean postoperative residual refractive cylinder was 0.25±0.29(range 0-0.75) D. Eyes with postoperative residual refractive cylinder of 0.5 D or less represented 80%(24 eyes). The mean postoperative toric IOL misalignment measured by the OPD scan III was 1.9°±1.45°(range from 0 to 5°). CONCLUSION: Image guided system allows accurate alignment of toric ICL. This is associated with good postoperative visual acuity and low residual refractive astigmatism which correlates with the precision of toric phakic IOL alignment.展开更多
The problem of simultaneous scheduling of machines and vehicles in flexible manufacturing system (FMS) was addressed.A spreadsheet based genetic algorithm (GA) approach was presented to solve the problem.A domain inde...The problem of simultaneous scheduling of machines and vehicles in flexible manufacturing system (FMS) was addressed.A spreadsheet based genetic algorithm (GA) approach was presented to solve the problem.A domain independent general purpose GA was used,which was an add-in to the spreadsheet software.An adaptation of the propritary GA software was demonstrated to the problem of minimizing the total completion time or makespan for simultaneous scheduling of machines and vehicles in flexible manufacturing systems.Computational results are presented for a benchmark with 82 test problems,which have been constructed by other researchers.The achieved results are comparable to the previous approaches.The proposed approach can be also applied to other problems or objective functions without changing the GA routine or the spreadsheet model.展开更多
This paper focuses mainly on semi-strapdown image homing guided （SSIHG） system design based on optical flow for a six-degree-of-freedom （6-DOF） axial-symmetric skid-to-turn missile. Three optical flow algorithms s...This paper focuses mainly on semi-strapdown image homing guided （SSIHG） system design based on optical flow for a six-degree-of-freedom （6-DOF） axial-symmetric skid-to-turn missile. Three optical flow algorithms suitable for large displacements are introduced and compared. The influence of different displacements on computational accuracy of the three algorithms is analyzed statistically. The total optical flow of the SSIHG missile is obtained using the Scale Invariant Feature Transform （SIFT） algorithm, which is the best among the three for large displacements. After removing the rotational optical flow caused by rotation of the gimbal and missile body from the total optical flow, the remaining translational optical flow is smoothed via Kalman filtering. The circular navigation guidance （CNG） law with impact angle constraint is then obtained utilizing the smoothed translational optical flow and position of the target image. Simulations are carried out under both disturbed and undisturbed conditions, and results indicate the proposed guidance strategy for SSIHG missiles can result in a precise target hit with a desired impact angle without the need for the time-to-go parameter.展开更多
Automated Guided Vehicles(AGVs)have been introduced into various applications,such as automated warehouse systems,flexible manufacturing systems,and container terminal systems.However,few publications have outlined pr...Automated Guided Vehicles(AGVs)have been introduced into various applications,such as automated warehouse systems,flexible manufacturing systems,and container terminal systems.However,few publications have outlined problems in need of attention in AGV applications comprehensively.In this paper,several key issues and essential models are presented.First,the advantages and disadvantages of centralized and decentralized AGVs systems were compared;second,warehouse layout and operation optimization were introduced,including some omitted areas,such as AGVs fleet size and electrical energy management;third,AGVs scheduling algorithms in chessboardlike environments were analyzed;fourth,the classical route-planning algorithms for single AGV and multiple AGVs were presented,and some Artificial Intelligence(AI)-based decision-making algorithms were reviewed.Furthermore,a novel idea for accelerating route planning by combining Reinforcement Learning(RL)andDijkstra’s algorithm was presented,and a novel idea of the multi-AGV route-planning method of combining dynamic programming and Monte-Carlo tree search was proposed to reduce the energy cost of systems.展开更多
Increase of elevator speed brings about amplified vibrations of high-speed elevator.In order to reduce the horizontal vibrations of high-speed elevator,a new type of hydraulic active guide roller system based on fuzzy...Increase of elevator speed brings about amplified vibrations of high-speed elevator.In order to reduce the horizontal vibrations of high-speed elevator,a new type of hydraulic active guide roller system based on fuzzy logic controller is developed.First the working principle of the hydraulic guide system is introduced,then the dynamic model of the horizontal vibrations for elevator cage with active guide roller system and the mathematical model of the hydraulic system are given.A fuzzy logic controller for the hydraulic system is designed to control the hydraulic actuator.To improve the control performance,preview compensation for the controller is provided.Finally,simulation and experiments are executed to verify the hydraulic active guide roller system and the control strategy.Both the simulation and experimental results indicate that the hydraulic active guide roller system can reduce the horizontal vibrations of the elevator effectively and has better effects than the passive one,and the fuzzy logic controller with preview compensation can give superior control performance.展开更多
The flow field in the ejector-diffuser system and its optimal operation condition are hardly complicated due to the complicated turbulent mixing, compressibility effects and even flow unsteadiness which are generated ...The flow field in the ejector-diffuser system and its optimal operation condition are hardly complicated due to the complicated turbulent mixing, compressibility effects and even flow unsteadiness which are generated inside the ejector- diffuser system. This paper aims at the improvement in ejector-diffuser system by focusing attention on entrainment ratio and pressure recovery. Several mixing guide vanes were installed at the inlet of the secondary stream for the purpose of the performance improvement of the ejector system. A Computational Fluid Dynamics (CFD) method based on Fluent has been applied to simulate the supersonic flows and shock waves inside the ejector. A finite volume scheme and density-based solver with coupled scheme were applied in the computational process. Standard k-ω turbulent model, implicit formulations were used considering the accuracy and stability. Previous experimental results showed that more flow vortexes were generated and more vertical flow was introduced into the stream under a mixing guide vane influence. Besides these effects on the secondary stream, the mixing guide vane effects on the shock system of the primary stream were also investigated in this paper. Optimal analysis results of the mixing guide vane effects were also carried out in detail in terms of the positions, lengths and numbers to achieve the best operation condition. The comparison of ejector performance with and without the mixing guide vane was obtained. The ejector-diffuser system performance is discussed in terms of the entrainment ratio, pressure recovery as well as total pressure loss.展开更多
The important status of guide ring in large power plants and its manufacturing methods were introduced. The advantages of manufacturing methods including welding and electrolysis were discussed.In order to ensure the ...The important status of guide ring in large power plants and its manufacturing methods were introduced. The advantages of manufacturing methods including welding and electrolysis were discussed.In order to ensure the brazing quality of the guide ring,ultrasonic nondestructive testing(UNDT) method was used in this study.According to the features of the defects that may show up during brazing,the feasibility and reliability of UNDT were proved in theory.Based on the theory,an ultrasonic C-scan imaging test method was developed using a water immersion focusing probe.According to the features of the inspected images,the defects were segmented using a morphology image processing based method.The defects can be localized and sized by employing the algorithm of area reconstruction.At last,the combination ratio of brazing interface can be calculated and the brazing quality of the guide ring can be evaluated.展开更多
In the industrial fields, many high temperature structures that require a non-destructive inspection exist. However, there are currently few sensors that can carry out non-destructive testing in a high temperature env...In the industrial fields, many high temperature structures that require a non-destructive inspection exist. However, there are currently few sensors that can carry out non-destructive testing in a high temperature environment. In particular, the ultrasonic sensor is normally not used at over 50 degrees Celsius. Also, a special sensor for high temperature is currently available, but there are various constraints;it has not yet reached a level that is useful in industry. Therefore, we have been developing a new sensor system using a long waveguide which can transmit an ultrasonic wave from a long distance. Especially, this study focuses on applying the developed technique to a pipe which is used in a nuclear power plant. Therefore, the best rectangular-shaped waveguide was studied and attempted to be wound around a pipe to be driven by an acoustic source of a guide wave. Finally, the L (0, 2) and T (0, 1)-mode guide waves were successfully detected by optimizing the shape of the opposite edge of the rectangular-shaped waveguide that could detect the reflected signal from an artificial defect machined into a test pipe.展开更多
The paper presents the development and performance of a kinematics control scheme for the AGV based on inductive guidance in transporting newsprint rolls. The required error is pre-computed using a kinematics model of...The paper presents the development and performance of a kinematics control scheme for the AGV based on inductive guidance in transporting newsprint rolls. The required error is pre-computed using a kinematics model of the AGV taking into account the effect of various factors that contribute to improve tracking performance of the AGV. Simulation and experimental results illustrate that the kinematics model performs well and the results of various factors contribute to tracking performance of the AGV.展开更多
BACKGROUND Acetabular component positioning in total hip arthroplasty(THA)is of key importance to ensure satisfactory post-operative outcomes and to minimize the risk of complications.The majority of acetabular compon...BACKGROUND Acetabular component positioning in total hip arthroplasty(THA)is of key importance to ensure satisfactory post-operative outcomes and to minimize the risk of complications.The majority of acetabular components are aligned freehand,without the use of navigation methods.Patient specific instruments(PSI)and three-dimensional(3D)printing of THA placement guides are increasingly used in primary THA to ensure optimal positioning.AIM To summarize the literature on 3D printing in THA and how they improve acetabular component alignment.METHODS PubMed was used to identify and access scientific studies reporting on different 3D printing methods used in THA.Eight studies with 236 hips in 228 patients were included.The studies could be divided into two main categories;3D printed models and 3D printed guides.RESULTS 3D printing in THA helped improve preoperative cup size planning and post-operative Harris hip scores between intervention and control groups(P=0.019,P=0.009).Otherwise,outcome measures were heterogeneous and thus difficult to compare.The overarching consensus between the studies is that the use of 3D guidance tools can assist in improving THA cup positioning and reduce the need for revision THA and the associated costs.CONCLUSION The implementation of 3D printing and PSI for primary THA can significantly improve the positioning accuracy of the acetabular cup component and reduce the number of complications caused by malpositioning.展开更多
In the wake of the recent investigation of new coupled integrable dispersionless equations by means of the Darboux transformation [Zhaqilao,et al.,Chin.Phys.B 18(2009) 1780],we carry out the initial value analysis of ...In the wake of the recent investigation of new coupled integrable dispersionless equations by means of the Darboux transformation [Zhaqilao,et al.,Chin.Phys.B 18(2009) 1780],we carry out the initial value analysis of the previous system using the fourth-order Runge-Kutta's computational scheme.As a result,while depicting its phase portraits accordingly,we show that the above dispersionless system actually supports two kinds of solutions amongst which the localized traveling wave-guide channels.In addition,paying particular interests to such localized structures,we construct the bilinear transformation of the current system from which scattering amongst the above waves can be deeply studied.展开更多
The nondestructive inspection of a high temperature structure is required in order to guarantee its safety. However, there are no useful sensors for high temperature structures. Some of them cannot work at temperature...The nondestructive inspection of a high temperature structure is required in order to guarantee its safety. However, there are no useful sensors for high temperature structures. Some of them cannot work at temperatures over 50°C. Another concern is that they are too expensive to use. A sensing system, which can transmit and receive an ultrasonic wave that travels a long distance using a long waveguide, has been studied. We confirmed that the optimal guided ultrasonic wave could travel more than 10 m using an electromagnetic transducer (EMAT) with a thin Ni-sheet surrounded on the surface of the bar and a 2-mm diameter bar as the waveguide. However, we had the difficult problem of receiving the reflected ultrasonic wave from the inside of a test specimen. We tried to improve the trial inspection system using an acoustic horn. An experiment in which the temperature of the test block was heated to about 500°C has now been completed. Finally, the condition of the bend in the waveguide to pass without reflection was confirmed.展开更多
This research is the analysis of rib and groove type wind guide plate for wind generation power system. This device generates electricity by the air flow producing by the high-speed vehicles driving on the road. It ca...This research is the analysis of rib and groove type wind guide plate for wind generation power system. This device generates electricity by the air flow producing by the high-speed vehicles driving on the road. It can produce electricity as long as there are car passing on the high way. The effect is much more efficient in heavy traffic with high speed. If we can set up a large number of this system along the highway, it can provide the lighting in the highway at night but also sell the extra electricity to the power companies with low cost, high performances and improvement of environmental benefits.展开更多
A guide wave is provided with the characteristic of long range propagation in the axis direction of a pipe, so it is possible to detect many defects over a large pipe area at once. At present, there is a technique to ...A guide wave is provided with the characteristic of long range propagation in the axis direction of a pipe, so it is possible to detect many defects over a large pipe area at once. At present, there is a technique to generate a guide wave using a piezoelectric element (PZT). However, the transverse wave-transducer using PZT needs to require a high viscosity couplant because the transverse wave cannot travel into typical liquid like water or oil. A guide wave inspection system that uses an electromagnetic ultrasonic transducer (EMAT) which does not require any couplant has then been developed to solve this trouble. First, a guide wave into a pipe, L, T and F-mode, can be transmitted and received by a polarized shear horizontal transverse wave propagating to the thickness direction when the vibration direction has been adjusted to the best direction. At next stage, the three EMATs for L, T and F-mode with different polarized vibration directions were piled up to improve the performance at the same position under the permanent magnet to inspect the pipe at the same condition. Next, the system with the EMATs can be confirmed to be able to detect three guide wave modes signal with enough intensity. Finally, the detection performance using the test pipes with any artificial defects has been done by the developed pipe inspection system, and any drilled holes and any notches can be detected. It is indicated that the developed system could be useful in real industrial field.展开更多
A rockbolt acting in the rock mass is subjected to the combined action of the pull-out load and confining pressure, and the bond quality of the rockbolt directly affects the stability of the roadway and cavern. Theref...A rockbolt acting in the rock mass is subjected to the combined action of the pull-out load and confining pressure, and the bond quality of the rockbolt directly affects the stability of the roadway and cavern. Therefore, in this study, confining pressure and pull-out load are applied to grouted rockbolt systems with bond defects by a numerical simulation method, and the rockbolt is detected by ultrasonic guided waves to study the propagation law of ultrasonic guided waves in defective rockbolt systems and the bond quality of rockbolts under the combined action of pull-out load and confining pressure. The numerical simulation results show that the length and location of bond defects can be detected by ultrasonic guided waves under the combined action of pull-out load and confining pressure. Under no pull-out load, with increasing confining pressure, the low-frequency part of the guided wave frequency in the rockbolt increases, the high-frequency part decreases, the weakening effect of the confining pressure on the guided wave propagation law increases, and the bond quality of the rockbolt increases. The existence of defects cannot change the strengthening effect of the confining pressure on the guided wave propagation law under the same pull-out load or the weakening effect of the pull-out load on the guided wave propagation law under the same confining pressure.展开更多
To tackle the issue of notch frequency and center frequency drift of the L(0,1)mode guided wave in ultra⁃sonic guided wave⁃based stress monitoring of prestressed steel strands,a method using higher⁃order mode plateau ...To tackle the issue of notch frequency and center frequency drift of the L(0,1)mode guided wave in ultra⁃sonic guided wave⁃based stress monitoring of prestressed steel strands,a method using higher⁃order mode plateau fre⁃quencies is adopted.First,the correlation between group velocity peaks and phase velocities at these plateau frequen⁃cies is analyzed.This analysis establishes a quantitative rela⁃tionship between phase velocity and stress in the steel strand,providing a theoretical foundation for stress monitor⁃ing.Then the two⁃dimensional Fourier transform is em⁃ployed to separate wave modes.Dynamic programming techniques are applied in the frequency⁃velocity domain to extract higher⁃order modes.By identifying the group veloc⁃ity peaks of these separated higher⁃order modes,the plateau frequencies of guided waves are determined,enabling indi⁃rect measurement of stress in the steel strand.To validate this method,finite element simulations are conducted under three scenarios.Results show that the higher⁃order modes of transient signals from three different positions can be ac⁃curately extracted,leading to successful cable stress moni⁃toring.This approach effectively circumvents the issue of guided wave frequency drift and improves stress monitoring accuracy.Consequently,it significantly improves the appli⁃cation of ultrasonic guided wave technology in structural health monitoring.展开更多
Objective To evaluate the clinical value of transrectal ultrasound guided systematic 13 cores prostate biopsy. Methods A total of 160 patients referred for abnormal digital rectal examination and(or) prostate specific...Objective To evaluate the clinical value of transrectal ultrasound guided systematic 13 cores prostate biopsy. Methods A total of 160 patients referred for abnormal digital rectal examination and(or) prostate specific antigen 4 ng/ml or greater underwent transrectal ultrasound guided systematic 13 cores prostate biopsy. That was, in addition to the standard sextant biopsies, cores were taken from the far lateral and middle regions of the gland as described by Eskew. Pathological findings of the additional regions were compared with those of the sextant regions. Results Of the patients 35 % had cancer on biopsy( 56/160). Of the 56 patients with prostate cancer 12 (21 %) had carcinoma only in the additional regions, which would be undetected on the sextant biopsy technique (P 【 0.05). No complications has been observed in patients underwent transrectal ultrasound guided systematic 13 cores prostate biopsy. Conclusion TransrectalChina Medical Abstracts(Surgery) ultrasound guided systematic 13 cores展开更多
文摘Aiming at the problems of traditional guide devices such as single environmental perception and poor terrain adaptability,this paper proposes an intelligent guide system based on a quadruped robot platform.Data fusion between millimeter-wave radar(with an accuracy of±0.1°)and an RGB-D camera is achieved through multisensor spatiotemporal registration technology,and a dataset suitable for guide dog robots is constructed.For the application scenario of edge-end guide dog robots,a lightweight CA-YOLOv11 target detection model integrated with an attention mechanism is innovatively adopted,achieving a comprehensive recognition accuracy of 95.8% in complex scenarios,which is 2.2% higher than that of the benchmark YOLOv11 network.The system supports navigation on complex terrains such as stairs(25 cm steps)and slopes(35°gradient),and the response time to sudden disturbances is shortened to 100 ms.Actual tests show that the navigation success rate reaches 95% in eight types of scenarios,the user satisfaction score is 4.8/5.0,and the cost is 50% lower than that of traditional guide dogs.
文摘Delayed liver laceration following transjugular intrahepatic portosystemic shunt (TIPS) is a serious and likely underdiagnosed complication. It is however an important complication following TIPS, which remains one of the most technically challenging interventional procedures performed. In addition to laceration, a number of complications regarding bleeding and perforation are well described following TIPS procedures. We feel the adoption of techniques such as ours and that of other authors described in the literature using an ultrasoundguided percutaneous transhepatic approach with a small caliber needle provides a safer and less traumatic procedure and should reduce complications of bleeding and almost completely eliminate the risk of liver laceration. Our procedure was successfully performed under conscious sedation rather than general anaesthesia further reducing the overall procedural risk to the patient.
文摘AIM: To evaluate accuracy of axis alignment and refractive results of toric phakic intraocular lens(IOL) implantation using a digital imaging system. METHODS: This retrospective study investigated toric implantable collamer lens(ICL) implantation in 30 eyes of 21 patients with myopic astigmatism more than 2.0 D guided with digital imaging system. Data were collected during the first week after phakic IOL implantation.RESULTS: Thirty eyes of 21 patients were included in our study. Patients includes 9 males and 12 females. The mean age of the patients was 26.5±7.1(range 21-44)y. The mean preoperative manifest astigmatism was 3.2±1.7(range from 2.25 to 4.75) D. The mean postoperative uncorrected distance visual acuity(UCDVA) were 0.07±0.07(range from 0.1 to 0.0) log MAR. The mean postoperative residual refractive cylinder was 0.25±0.29(range 0-0.75) D. Eyes with postoperative residual refractive cylinder of 0.5 D or less represented 80%(24 eyes). The mean postoperative toric IOL misalignment measured by the OPD scan III was 1.9°±1.45°(range from 0 to 5°). CONCLUSION: Image guided system allows accurate alignment of toric ICL. This is associated with good postoperative visual acuity and low residual refractive astigmatism which correlates with the precision of toric phakic IOL alignment.
文摘The problem of simultaneous scheduling of machines and vehicles in flexible manufacturing system (FMS) was addressed.A spreadsheet based genetic algorithm (GA) approach was presented to solve the problem.A domain independent general purpose GA was used,which was an add-in to the spreadsheet software.An adaptation of the propritary GA software was demonstrated to the problem of minimizing the total completion time or makespan for simultaneous scheduling of machines and vehicles in flexible manufacturing systems.Computational results are presented for a benchmark with 82 test problems,which have been constructed by other researchers.The achieved results are comparable to the previous approaches.The proposed approach can be also applied to other problems or objective functions without changing the GA routine or the spreadsheet model.
基金supported by the Armament Research Fund of China (No.9020A02010313BQ01)
文摘This paper focuses mainly on semi-strapdown image homing guided （SSIHG） system design based on optical flow for a six-degree-of-freedom （6-DOF） axial-symmetric skid-to-turn missile. Three optical flow algorithms suitable for large displacements are introduced and compared. The influence of different displacements on computational accuracy of the three algorithms is analyzed statistically. The total optical flow of the SSIHG missile is obtained using the Scale Invariant Feature Transform （SIFT） algorithm, which is the best among the three for large displacements. After removing the rotational optical flow caused by rotation of the gimbal and missile body from the total optical flow, the remaining translational optical flow is smoothed via Kalman filtering. The circular navigation guidance （CNG） law with impact angle constraint is then obtained utilizing the smoothed translational optical flow and position of the target image. Simulations are carried out under both disturbed and undisturbed conditions, and results indicate the proposed guidance strategy for SSIHG missiles can result in a precise target hit with a desired impact angle without the need for the time-to-go parameter.
文摘Automated Guided Vehicles(AGVs)have been introduced into various applications,such as automated warehouse systems,flexible manufacturing systems,and container terminal systems.However,few publications have outlined problems in need of attention in AGV applications comprehensively.In this paper,several key issues and essential models are presented.First,the advantages and disadvantages of centralized and decentralized AGVs systems were compared;second,warehouse layout and operation optimization were introduced,including some omitted areas,such as AGVs fleet size and electrical energy management;third,AGVs scheduling algorithms in chessboardlike environments were analyzed;fourth,the classical route-planning algorithms for single AGV and multiple AGVs were presented,and some Artificial Intelligence(AI)-based decision-making algorithms were reviewed.Furthermore,a novel idea for accelerating route planning by combining Reinforcement Learning(RL)andDijkstra’s algorithm was presented,and a novel idea of the multi-AGV route-planning method of combining dynamic programming and Monte-Carlo tree search was proposed to reduce the energy cost of systems.
文摘Increase of elevator speed brings about amplified vibrations of high-speed elevator.In order to reduce the horizontal vibrations of high-speed elevator,a new type of hydraulic active guide roller system based on fuzzy logic controller is developed.First the working principle of the hydraulic guide system is introduced,then the dynamic model of the horizontal vibrations for elevator cage with active guide roller system and the mathematical model of the hydraulic system are given.A fuzzy logic controller for the hydraulic system is designed to control the hydraulic actuator.To improve the control performance,preview compensation for the controller is provided.Finally,simulation and experiments are executed to verify the hydraulic active guide roller system and the control strategy.Both the simulation and experimental results indicate that the hydraulic active guide roller system can reduce the horizontal vibrations of the elevator effectively and has better effects than the passive one,and the fuzzy logic controller with preview compensation can give superior control performance.
文摘The flow field in the ejector-diffuser system and its optimal operation condition are hardly complicated due to the complicated turbulent mixing, compressibility effects and even flow unsteadiness which are generated inside the ejector- diffuser system. This paper aims at the improvement in ejector-diffuser system by focusing attention on entrainment ratio and pressure recovery. Several mixing guide vanes were installed at the inlet of the secondary stream for the purpose of the performance improvement of the ejector system. A Computational Fluid Dynamics (CFD) method based on Fluent has been applied to simulate the supersonic flows and shock waves inside the ejector. A finite volume scheme and density-based solver with coupled scheme were applied in the computational process. Standard k-ω turbulent model, implicit formulations were used considering the accuracy and stability. Previous experimental results showed that more flow vortexes were generated and more vertical flow was introduced into the stream under a mixing guide vane influence. Besides these effects on the secondary stream, the mixing guide vane effects on the shock system of the primary stream were also investigated in this paper. Optimal analysis results of the mixing guide vane effects were also carried out in detail in terms of the positions, lengths and numbers to achieve the best operation condition. The comparison of ejector performance with and without the mixing guide vane was obtained. The ejector-diffuser system performance is discussed in terms of the entrainment ratio, pressure recovery as well as total pressure loss.
基金the Fund of the State Key Laboratory of Advanced Welding and Joining,Harbin Institute of Technology(No.welding 10-013)
文摘The important status of guide ring in large power plants and its manufacturing methods were introduced. The advantages of manufacturing methods including welding and electrolysis were discussed.In order to ensure the brazing quality of the guide ring,ultrasonic nondestructive testing(UNDT) method was used in this study.According to the features of the defects that may show up during brazing,the feasibility and reliability of UNDT were proved in theory.Based on the theory,an ultrasonic C-scan imaging test method was developed using a water immersion focusing probe.According to the features of the inspected images,the defects were segmented using a morphology image processing based method.The defects can be localized and sized by employing the algorithm of area reconstruction.At last,the combination ratio of brazing interface can be calculated and the brazing quality of the guide ring can be evaluated.
文摘In the industrial fields, many high temperature structures that require a non-destructive inspection exist. However, there are currently few sensors that can carry out non-destructive testing in a high temperature environment. In particular, the ultrasonic sensor is normally not used at over 50 degrees Celsius. Also, a special sensor for high temperature is currently available, but there are various constraints;it has not yet reached a level that is useful in industry. Therefore, we have been developing a new sensor system using a long waveguide which can transmit an ultrasonic wave from a long distance. Especially, this study focuses on applying the developed technique to a pipe which is used in a nuclear power plant. Therefore, the best rectangular-shaped waveguide was studied and attempted to be wound around a pipe to be driven by an acoustic source of a guide wave. Finally, the L (0, 2) and T (0, 1)-mode guide waves were successfully detected by optimizing the shape of the opposite edge of the rectangular-shaped waveguide that could detect the reflected signal from an artificial defect machined into a test pipe.
文摘The paper presents the development and performance of a kinematics control scheme for the AGV based on inductive guidance in transporting newsprint rolls. The required error is pre-computed using a kinematics model of the AGV taking into account the effect of various factors that contribute to improve tracking performance of the AGV. Simulation and experimental results illustrate that the kinematics model performs well and the results of various factors contribute to tracking performance of the AGV.
文摘BACKGROUND Acetabular component positioning in total hip arthroplasty(THA)is of key importance to ensure satisfactory post-operative outcomes and to minimize the risk of complications.The majority of acetabular components are aligned freehand,without the use of navigation methods.Patient specific instruments(PSI)and three-dimensional(3D)printing of THA placement guides are increasingly used in primary THA to ensure optimal positioning.AIM To summarize the literature on 3D printing in THA and how they improve acetabular component alignment.METHODS PubMed was used to identify and access scientific studies reporting on different 3D printing methods used in THA.Eight studies with 236 hips in 228 patients were included.The studies could be divided into two main categories;3D printed models and 3D printed guides.RESULTS 3D printing in THA helped improve preoperative cup size planning and post-operative Harris hip scores between intervention and control groups(P=0.019,P=0.009).Otherwise,outcome measures were heterogeneous and thus difficult to compare.The overarching consensus between the studies is that the use of 3D guidance tools can assist in improving THA cup positioning and reduce the need for revision THA and the associated costs.CONCLUSION The implementation of 3D printing and PSI for primary THA can significantly improve the positioning accuracy of the acetabular cup component and reduce the number of complications caused by malpositioning.
文摘In the wake of the recent investigation of new coupled integrable dispersionless equations by means of the Darboux transformation [Zhaqilao,et al.,Chin.Phys.B 18(2009) 1780],we carry out the initial value analysis of the previous system using the fourth-order Runge-Kutta's computational scheme.As a result,while depicting its phase portraits accordingly,we show that the above dispersionless system actually supports two kinds of solutions amongst which the localized traveling wave-guide channels.In addition,paying particular interests to such localized structures,we construct the bilinear transformation of the current system from which scattering amongst the above waves can be deeply studied.
文摘The nondestructive inspection of a high temperature structure is required in order to guarantee its safety. However, there are no useful sensors for high temperature structures. Some of them cannot work at temperatures over 50°C. Another concern is that they are too expensive to use. A sensing system, which can transmit and receive an ultrasonic wave that travels a long distance using a long waveguide, has been studied. We confirmed that the optimal guided ultrasonic wave could travel more than 10 m using an electromagnetic transducer (EMAT) with a thin Ni-sheet surrounded on the surface of the bar and a 2-mm diameter bar as the waveguide. However, we had the difficult problem of receiving the reflected ultrasonic wave from the inside of a test specimen. We tried to improve the trial inspection system using an acoustic horn. An experiment in which the temperature of the test block was heated to about 500°C has now been completed. Finally, the condition of the bend in the waveguide to pass without reflection was confirmed.
文摘This research is the analysis of rib and groove type wind guide plate for wind generation power system. This device generates electricity by the air flow producing by the high-speed vehicles driving on the road. It can produce electricity as long as there are car passing on the high way. The effect is much more efficient in heavy traffic with high speed. If we can set up a large number of this system along the highway, it can provide the lighting in the highway at night but also sell the extra electricity to the power companies with low cost, high performances and improvement of environmental benefits.
文摘A guide wave is provided with the characteristic of long range propagation in the axis direction of a pipe, so it is possible to detect many defects over a large pipe area at once. At present, there is a technique to generate a guide wave using a piezoelectric element (PZT). However, the transverse wave-transducer using PZT needs to require a high viscosity couplant because the transverse wave cannot travel into typical liquid like water or oil. A guide wave inspection system that uses an electromagnetic ultrasonic transducer (EMAT) which does not require any couplant has then been developed to solve this trouble. First, a guide wave into a pipe, L, T and F-mode, can be transmitted and received by a polarized shear horizontal transverse wave propagating to the thickness direction when the vibration direction has been adjusted to the best direction. At next stage, the three EMATs for L, T and F-mode with different polarized vibration directions were piled up to improve the performance at the same position under the permanent magnet to inspect the pipe at the same condition. Next, the system with the EMATs can be confirmed to be able to detect three guide wave modes signal with enough intensity. Finally, the detection performance using the test pipes with any artificial defects has been done by the developed pipe inspection system, and any drilled holes and any notches can be detected. It is indicated that the developed system could be useful in real industrial field.
文摘A rockbolt acting in the rock mass is subjected to the combined action of the pull-out load and confining pressure, and the bond quality of the rockbolt directly affects the stability of the roadway and cavern. Therefore, in this study, confining pressure and pull-out load are applied to grouted rockbolt systems with bond defects by a numerical simulation method, and the rockbolt is detected by ultrasonic guided waves to study the propagation law of ultrasonic guided waves in defective rockbolt systems and the bond quality of rockbolts under the combined action of pull-out load and confining pressure. The numerical simulation results show that the length and location of bond defects can be detected by ultrasonic guided waves under the combined action of pull-out load and confining pressure. Under no pull-out load, with increasing confining pressure, the low-frequency part of the guided wave frequency in the rockbolt increases, the high-frequency part decreases, the weakening effect of the confining pressure on the guided wave propagation law increases, and the bond quality of the rockbolt increases. The existence of defects cannot change the strengthening effect of the confining pressure on the guided wave propagation law under the same pull-out load or the weakening effect of the pull-out load on the guided wave propagation law under the same confining pressure.
基金The National Natural Science Foundation of China(No.52278303).
文摘To tackle the issue of notch frequency and center frequency drift of the L(0,1)mode guided wave in ultra⁃sonic guided wave⁃based stress monitoring of prestressed steel strands,a method using higher⁃order mode plateau fre⁃quencies is adopted.First,the correlation between group velocity peaks and phase velocities at these plateau frequen⁃cies is analyzed.This analysis establishes a quantitative rela⁃tionship between phase velocity and stress in the steel strand,providing a theoretical foundation for stress monitor⁃ing.Then the two⁃dimensional Fourier transform is em⁃ployed to separate wave modes.Dynamic programming techniques are applied in the frequency⁃velocity domain to extract higher⁃order modes.By identifying the group veloc⁃ity peaks of these separated higher⁃order modes,the plateau frequencies of guided waves are determined,enabling indi⁃rect measurement of stress in the steel strand.To validate this method,finite element simulations are conducted under three scenarios.Results show that the higher⁃order modes of transient signals from three different positions can be ac⁃curately extracted,leading to successful cable stress moni⁃toring.This approach effectively circumvents the issue of guided wave frequency drift and improves stress monitoring accuracy.Consequently,it significantly improves the appli⁃cation of ultrasonic guided wave technology in structural health monitoring.
文摘Objective To evaluate the clinical value of transrectal ultrasound guided systematic 13 cores prostate biopsy. Methods A total of 160 patients referred for abnormal digital rectal examination and(or) prostate specific antigen 4 ng/ml or greater underwent transrectal ultrasound guided systematic 13 cores prostate biopsy. That was, in addition to the standard sextant biopsies, cores were taken from the far lateral and middle regions of the gland as described by Eskew. Pathological findings of the additional regions were compared with those of the sextant regions. Results Of the patients 35 % had cancer on biopsy( 56/160). Of the 56 patients with prostate cancer 12 (21 %) had carcinoma only in the additional regions, which would be undetected on the sextant biopsy technique (P 【 0.05). No complications has been observed in patients underwent transrectal ultrasound guided systematic 13 cores prostate biopsy. Conclusion TransrectalChina Medical Abstracts(Surgery) ultrasound guided systematic 13 cores
