Any phenomenon in nature is potential to be an inspiration for us to propose new ideas.Lateral line is a typical example which has attracted more interest in recent years.With the aid of lateral line,fish is capable o...Any phenomenon in nature is potential to be an inspiration for us to propose new ideas.Lateral line is a typical example which has attracted more interest in recent years.With the aid of lateral line,fish is capable of acquiring fluid information around,which is of great significance for them to survive,communicate and hunt underwater.In this paper,we briefly introduce the morphology and mechanism of the lateral line first.Then we focus on the development of artificial lateral line which typically consists of an array of sensors and can be installed on underwater robots.A series of sensors inspired by the lateral line with different sensing principles have been summarized.And then the applications of artificial lateral line systems in hydrodynamic environment sensing and vortices detection,dipole oscillation source detection,and autonomous control of underwater robots have been reviewed.In addition,the existing problems and future foci in this field have been further discussed in detail.The current works and future foci have demonstrated that artificial lateral line has great potentials of applications and contributes to the development of underwater robots.展开更多
The WSN used in power line monitoring is long chain structure, and the bottleneck near the Sink node is more obvious. In view of this, A Sink nodes’ cooperation mechanism is presented. The Sink nodes from different W...The WSN used in power line monitoring is long chain structure, and the bottleneck near the Sink node is more obvious. In view of this, A Sink nodes’ cooperation mechanism is presented. The Sink nodes from different WSNs are adjacently deployed. Adopting multimode and spatial multiplexing network technology, the network is constructed into multi-mode-level to achieve different levels of data streaming. The network loads are shunted and the network resources are rationally utilized. Through the multi-sink nodes cooperation, the bottlenecks at the Sink node and its near several jump nodes are solved and process the competition of communication between nodes by channel adjustment. Finally, the paper analyzed the method and provided simulation experiment results. Simulation results show that the method can solve the funnel effect of the sink node, and get a good QoS.展开更多
Measuring and reconstructing the shape of workpieces have been considered as a fundamental step in both reverse engineering and product quality control.Owing to increasing structural complexity of recent products,meas...Measuring and reconstructing the shape of workpieces have been considered as a fundamental step in both reverse engineering and product quality control.Owing to increasing structural complexity of recent products,measurements from multiple directions are typically required in current scanning techniques.Specifically,the plane structured light can be applied to measure one area of a part at a time,with an additional algorithm required to merge the collected data of each area.Alternatively,the line structured light sensor integrated on CNC machines or CMMs could also realize multi-view measurement.However,the system needs to be repeatedly calibrated at each new direction.This paper presents a flexible scanning method by integrating laser line sensors with articulated arm coordinate measuring machines(AACMM).Since the output of the laser line sensor is 2D raw data in the laser plane,our system model introduces an explicit transformation from the 2D sensor coordinate frame to the 3D base coordinate frame of the AACMM(i.e.,the translation and rotation the of the 2D sensor coordinate in the sixth coordinate system of AACMM).To solve the model,the“conjugate pairs”are proposed and identified by measuring a fixed point(e.g.,a sphere center).Moreover,a search algorithm is adopted to find the optimal solution,which noticeably boosts the model accuracy.The experimental results show that the error of the system is about 0.2 mm,which is caused by the error of the AACMM,the sensor error and the calibration error.By measuring a complicated part,the proposed system is proved to be flexible and facilitate,with the ability to measure a part expediently from any necessary direction.Furthermore,the proposed calibration method can also be used for robot hand-eye relationship calibration.展开更多
Because the melting point of the alkalis is very high and the metal activity is strong, the common pressure sensor can＇t be used to measure pressure of liquid metal. In this paper, a differential transformer differen...Because the melting point of the alkalis is very high and the metal activity is strong, the common pressure sensor can＇t be used to measure pressure of liquid metal. In this paper, a differential transformer differential pressure sensor for measuring liquid alkalis pressure is designed, the working principle and specific design plan of the sensor are introduced, the standard current signal （ 4 -20 mA） or digital communication RS485 can be output according to the needs, and the functions of remote monitoring and data optimization can be realized through the LAN interface.展开更多
Aim To detect sensor failure in control system using a single sensor signal. Methods A neural predictor was designed based on a radial basis function network(RBFN), and the neural predictor learned the sensor sig...Aim To detect sensor failure in control system using a single sensor signal. Methods A neural predictor was designed based on a radial basis function network(RBFN), and the neural predictor learned the sensor signal on line with a hybrid algorithm composed of n means clustering and Kalman filter and then gave the estimation of the sensor signal at the next step. If the difference between the estimation and the actural values of the sensor signal exceeded a threshold, the sensor could be declared to have a failure. The choice of the failure detection threshold depends on the noise variance and the possible prediction error of neural predictor. Results and Conclusion\ The computer simulation results show the proposed method can detect sensor failure correctly for a gyro in an automotive engine.展开更多
The problem of mobile localization for wireless sensor network has attracted considerable attention in recent years. The localization accuracy will drastically grade in non-line of sight(NLOS) conditions. In this pape...The problem of mobile localization for wireless sensor network has attracted considerable attention in recent years. The localization accuracy will drastically grade in non-line of sight(NLOS) conditions. In this paper, we propose a mobile localization strategy based on Kalman filter. The key technologies for the proposed method are the NLOS identification and mitigation. The proposed method does not need the prior knowledge of the NLOS error and it is independent of the physical measurement ways. Simulation results show that the proposed method owns the higher localization accuracy when compared with other methods.展开更多
With the increase of pipelines, corrosion leakage accidents happen frequently. Therefore, nondestructive testing technology is important for ensuring the safe operation of the pipelines and energy mining. In this pape...With the increase of pipelines, corrosion leakage accidents happen frequently. Therefore, nondestructive testing technology is important for ensuring the safe operation of the pipelines and energy mining. In this paper, the structure and principle of magnetic flux leakage （MFL） in-line inspection system is introduced first. Besides, a mathematic model of the system according to the ampere circuit rule, flux continuity theorem, and column coordinate transform is built, and the magnetic flux density in every point of space is calculated based on the theory of finite element analysis. Then we analyze and design the disposition of measurement section probes and sensors combining both three-axis MFL in-line inspection and multi-sensor fusion technology. Its advantage is that the three-axis changes of magnetic flux leakage field are measured by the multi-probes at the same time, so we can determine various defects accurately. Finally, the theory of finite element analysis is used to build a finite element simulation model, and the relationship between defects and MFL inspection signals is studied. Simulation and experiment results verify that the method not only enhances the detection ability to different types of defects but also improves the precision and reliability of the inspection system.展开更多
Based on the characteristics of line structured light sensor, a speedy method for the calibration was established. With the coplanar reference target, the spacial pose between camera and optical plane can be calibrate...Based on the characteristics of line structured light sensor, a speedy method for the calibration was established. With the coplanar reference target, the spacial pose between camera and optical plane can be calibrated by using of the camera’s projective center and the light’s information in the camera’s image surface. Without striction to the movement of the coplanar reference target and assistant adjustment equipment, this calibration method can be implemented. This method has been used and decreased the cost of calibration equipment, simplified the calibration procedure, improved calibration efficiency. Using experiment, the sensor can attain relative accuracy about 0.5%, which indicates the rationality and effectivity of this method.展开更多
A pair of synchronous line-tracking robots based on STM32 are designed. Each robot is actually a small intelligent car with seven reflective infrared photoelectric sensors ST188 installed in the front to track the lin...A pair of synchronous line-tracking robots based on STM32 are designed. Each robot is actually a small intelligent car with seven reflective infrared photoelectric sensors ST188 installed in the front to track the line. Two rear wheels each driven by a moter are the driving wheels, while each rooter is driven by an H-bridge circuit. The running direction is con- trolled by the turning of a servo fastened to the front wheel and the adjustment of speed difference between the rear wheels. Besides, the light-adaptive line-tracking can be performed. The speeds of the motors are controlled by adjusting pulse-width modulation （PWM） values and an angular displacement transducer is used to detect the relative position of the cars in real time. Thus, the speeds of the cars can be adjusted in time so that the synchronism of the cars can be achieved. Through ex-periments, the fast and accurate synchronous tracking can be well realized.展开更多
In order to make up for the deficiencies and insufficiencies that In order to make up for the deficiencies and insufficiencies that wireless sensor network is constituted absolutely by static or dynamic sensor nodes. ...In order to make up for the deficiencies and insufficiencies that In order to make up for the deficiencies and insufficiencies that wireless sensor network is constituted absolutely by static or dynamic sensor nodes. So a deployment mechanism for hybrid nodes barrier coverage (HNBC)is proposed in wireless sensor network, which collaboratively consists of static and dynamic sensor nodes. We introduced the Voronoi diagram to divide the whole deployment area. According to the principle of least square method, and the static nodes are used to construct the reference barrier line (RBL). And we implemented effectively barrier coverage by monitoring whether there is a coverage hole in the deployment area, and then to determine whether dynamic nodes need limited mobility to redeploy the monitoring area. The simulation results show that the proposed algorithm improved the coverage quality, and completed the barrier coverage with less node moving distance and lower energy consumption, and achieved the expected coverage requirements展开更多
With the rapid developments of commercial demands,a majority of advanced researches have been investigated for the applications of underwater wireless sensor(WSN)networks.Recently optical communication has...With the rapid developments of commercial demands,a majority of advanced researches have been investigated for the applications of underwater wireless sensor(WSN)networks.Recently optical communication has been considered for underwater wireless sensor network.An experimental set-up for testing optical communication underwater has been provided and designed in present papers to maximize the energy coupled from these displacements to the transduction mechanism that converts the mechanical energy into electrical.The true case has been considered by measuring diffuse attenuation coefficients in different seas.One stand out potential optical communication method,Visible Light Communication(VLC)has been talked and several communication methods are compared from many points of view,for example attenuation in salt water.The evaluation of modulation techniques for underwater wireless optical communications has been displayed,and further how the data collection and storage with an underwater WSN is introduced.In this paper current researches for an(UWSN)based on optical communication are studied,in particular the potential VLC method and comparisons of VLC with other optical communication approaches.Underwater challenges would be analyzed by comparing a sort of communication methods,applied in underwater.Future work will be developed at last.展开更多
基金This work was supported in part by grants from the National Natural Science Foundation of China(NSFC,No.91648120,61633002,51575005)the Beijing Natural Science Foundation(No.4192026).
文摘Any phenomenon in nature is potential to be an inspiration for us to propose new ideas.Lateral line is a typical example which has attracted more interest in recent years.With the aid of lateral line,fish is capable of acquiring fluid information around,which is of great significance for them to survive,communicate and hunt underwater.In this paper,we briefly introduce the morphology and mechanism of the lateral line first.Then we focus on the development of artificial lateral line which typically consists of an array of sensors and can be installed on underwater robots.A series of sensors inspired by the lateral line with different sensing principles have been summarized.And then the applications of artificial lateral line systems in hydrodynamic environment sensing and vortices detection,dipole oscillation source detection,and autonomous control of underwater robots have been reviewed.In addition,the existing problems and future foci in this field have been further discussed in detail.The current works and future foci have demonstrated that artificial lateral line has great potentials of applications and contributes to the development of underwater robots.
文摘The WSN used in power line monitoring is long chain structure, and the bottleneck near the Sink node is more obvious. In view of this, A Sink nodes’ cooperation mechanism is presented. The Sink nodes from different WSNs are adjacently deployed. Adopting multimode and spatial multiplexing network technology, the network is constructed into multi-mode-level to achieve different levels of data streaming. The network loads are shunted and the network resources are rationally utilized. Through the multi-sink nodes cooperation, the bottlenecks at the Sink node and its near several jump nodes are solved and process the competition of communication between nodes by channel adjustment. Finally, the paper analyzed the method and provided simulation experiment results. Simulation results show that the method can solve the funnel effect of the sink node, and get a good QoS.
基金National Natural Science Foundation of China(Grant No.42076192).
文摘Measuring and reconstructing the shape of workpieces have been considered as a fundamental step in both reverse engineering and product quality control.Owing to increasing structural complexity of recent products,measurements from multiple directions are typically required in current scanning techniques.Specifically,the plane structured light can be applied to measure one area of a part at a time,with an additional algorithm required to merge the collected data of each area.Alternatively,the line structured light sensor integrated on CNC machines or CMMs could also realize multi-view measurement.However,the system needs to be repeatedly calibrated at each new direction.This paper presents a flexible scanning method by integrating laser line sensors with articulated arm coordinate measuring machines(AACMM).Since the output of the laser line sensor is 2D raw data in the laser plane,our system model introduces an explicit transformation from the 2D sensor coordinate frame to the 3D base coordinate frame of the AACMM(i.e.,the translation and rotation the of the 2D sensor coordinate in the sixth coordinate system of AACMM).To solve the model,the“conjugate pairs”are proposed and identified by measuring a fixed point(e.g.,a sphere center).Moreover,a search algorithm is adopted to find the optimal solution,which noticeably boosts the model accuracy.The experimental results show that the error of the system is about 0.2 mm,which is caused by the error of the AACMM,the sensor error and the calibration error.By measuring a complicated part,the proposed system is proved to be flexible and facilitate,with the ability to measure a part expediently from any necessary direction.Furthermore,the proposed calibration method can also be used for robot hand-eye relationship calibration.
文摘Because the melting point of the alkalis is very high and the metal activity is strong, the common pressure sensor can＇t be used to measure pressure of liquid metal. In this paper, a differential transformer differential pressure sensor for measuring liquid alkalis pressure is designed, the working principle and specific design plan of the sensor are introduced, the standard current signal （ 4 -20 mA） or digital communication RS485 can be output according to the needs, and the functions of remote monitoring and data optimization can be realized through the LAN interface.
文摘Aim To detect sensor failure in control system using a single sensor signal. Methods A neural predictor was designed based on a radial basis function network(RBFN), and the neural predictor learned the sensor signal on line with a hybrid algorithm composed of n means clustering and Kalman filter and then gave the estimation of the sensor signal at the next step. If the difference between the estimation and the actural values of the sensor signal exceeded a threshold, the sensor could be declared to have a failure. The choice of the failure detection threshold depends on the noise variance and the possible prediction error of neural predictor. Results and Conclusion\ The computer simulation results show the proposed method can detect sensor failure correctly for a gyro in an automotive engine.
基金supported by the National Natural Science Foundation of China under Grant No. 61403068, No. 61232016, No. U1405254 and No. 61501100Fundamental Research Funds for the Central Universities of China under Grant No. N130323002 and No. N130323004+3 种基金Natural Science Foundation of Hebei Province under Grant No. F2015501097 and No. F2016501080Scientific Research Fund of Hebei Provincial Education Department under Grant No. Z2014078the PAPD fundNEUQ internal funding under Grant No. XNB201509 and XNB201510
文摘The problem of mobile localization for wireless sensor network has attracted considerable attention in recent years. The localization accuracy will drastically grade in non-line of sight(NLOS) conditions. In this paper, we propose a mobile localization strategy based on Kalman filter. The key technologies for the proposed method are the NLOS identification and mitigation. The proposed method does not need the prior knowledge of the NLOS error and it is independent of the physical measurement ways. Simulation results show that the proposed method owns the higher localization accuracy when compared with other methods.
基金Project supported by the National Natural Science Foundation of China (Grant Nos. 61273164 and 61034005)the National High Technology Research and Development Program of China (Grant No. 2012AA040104)the Fundamental Research Funds for the Central Universities, China (Grant No. N100104102)
文摘With the increase of pipelines, corrosion leakage accidents happen frequently. Therefore, nondestructive testing technology is important for ensuring the safe operation of the pipelines and energy mining. In this paper, the structure and principle of magnetic flux leakage （MFL） in-line inspection system is introduced first. Besides, a mathematic model of the system according to the ampere circuit rule, flux continuity theorem, and column coordinate transform is built, and the magnetic flux density in every point of space is calculated based on the theory of finite element analysis. Then we analyze and design the disposition of measurement section probes and sensors combining both three-axis MFL in-line inspection and multi-sensor fusion technology. Its advantage is that the three-axis changes of magnetic flux leakage field are measured by the multi-probes at the same time, so we can determine various defects accurately. Finally, the theory of finite element analysis is used to build a finite element simulation model, and the relationship between defects and MFL inspection signals is studied. Simulation and experiment results verify that the method not only enhances the detection ability to different types of defects but also improves the precision and reliability of the inspection system.
文摘Based on the characteristics of line structured light sensor, a speedy method for the calibration was established. With the coplanar reference target, the spacial pose between camera and optical plane can be calibrated by using of the camera’s projective center and the light’s information in the camera’s image surface. Without striction to the movement of the coplanar reference target and assistant adjustment equipment, this calibration method can be implemented. This method has been used and decreased the cost of calibration equipment, simplified the calibration procedure, improved calibration efficiency. Using experiment, the sensor can attain relative accuracy about 0.5%, which indicates the rationality and effectivity of this method.
文摘A pair of synchronous line-tracking robots based on STM32 are designed. Each robot is actually a small intelligent car with seven reflective infrared photoelectric sensors ST188 installed in the front to track the line. Two rear wheels each driven by a moter are the driving wheels, while each rooter is driven by an H-bridge circuit. The running direction is con- trolled by the turning of a servo fastened to the front wheel and the adjustment of speed difference between the rear wheels. Besides, the light-adaptive line-tracking can be performed. The speeds of the motors are controlled by adjusting pulse-width modulation （PWM） values and an angular displacement transducer is used to detect the relative position of the cars in real time. Thus, the speeds of the cars can be adjusted in time so that the synchronism of the cars can be achieved. Through ex-periments, the fast and accurate synchronous tracking can be well realized.
文摘In order to make up for the deficiencies and insufficiencies that In order to make up for the deficiencies and insufficiencies that wireless sensor network is constituted absolutely by static or dynamic sensor nodes. So a deployment mechanism for hybrid nodes barrier coverage (HNBC)is proposed in wireless sensor network, which collaboratively consists of static and dynamic sensor nodes. We introduced the Voronoi diagram to divide the whole deployment area. According to the principle of least square method, and the static nodes are used to construct the reference barrier line (RBL). And we implemented effectively barrier coverage by monitoring whether there is a coverage hole in the deployment area, and then to determine whether dynamic nodes need limited mobility to redeploy the monitoring area. The simulation results show that the proposed algorithm improved the coverage quality, and completed the barrier coverage with less node moving distance and lower energy consumption, and achieved the expected coverage requirements
文摘With the rapid developments of commercial demands,a majority of advanced researches have been investigated for the applications of underwater wireless sensor(WSN)networks.Recently optical communication has been considered for underwater wireless sensor network.An experimental set-up for testing optical communication underwater has been provided and designed in present papers to maximize the energy coupled from these displacements to the transduction mechanism that converts the mechanical energy into electrical.The true case has been considered by measuring diffuse attenuation coefficients in different seas.One stand out potential optical communication method,Visible Light Communication(VLC)has been talked and several communication methods are compared from many points of view,for example attenuation in salt water.The evaluation of modulation techniques for underwater wireless optical communications has been displayed,and further how the data collection and storage with an underwater WSN is introduced.In this paper current researches for an(UWSN)based on optical communication are studied,in particular the potential VLC method and comparisons of VLC with other optical communication approaches.Underwater challenges would be analyzed by comparing a sort of communication methods,applied in underwater.Future work will be developed at last.
