This paper develops a fast filtering algorithm based on vibration systems theory and neural information exchange approach. The characters, including the derivation process and parameter analysis, are discussed and the...This paper develops a fast filtering algorithm based on vibration systems theory and neural information exchange approach. The characters, including the derivation process and parameter analysis, are discussed and the feasibility and the effectiveness are testified by the filtering performance compared with various filtering methods, such as the fast wavelet transform algorithm, the particle filtering method and our previously developed single degree of freedom vibration system filtering algorithm, according to simulation and practical approaches. Meanwhile, the comparisons indicate that a significant advantage of the proposed fast filtering algorithm is its extremely fast filtering speed with good filtering perfi^rmance. Further, the developed fast filtering algorithm is applied to the navigation and positioning system of the micro motion robot, which is a high real-time requirement for the signals preprocessing. Then, the preprocessing data is used to estimate the heading angle error and the attitude angle error of the micro motion robot. The estimation experiments illustrate the high practicality of the proposed fast filtering algorithm.展开更多
The limit working parameters and service life of axial piston pump are determined by the carrying ability and lubrication characteristic of its key friction pairs. Therefore, the design and optimization of the key fri...The limit working parameters and service life of axial piston pump are determined by the carrying ability and lubrication characteristic of its key friction pairs. Therefore, the design and optimization of the key friction pairs are always a key and difficult problem in the research on axial piston pump. In the traditional research on piston/cylinder pair, the assembly relationship of piston and cylinder bore is simplified into ideal cylindrical pair, which can not be used to analyze the influences of radial micro-motion of piston on the distribution characteristics of oil-film thickness and pressure in details. In this paper, based on the lubrication theory of the oil film, a numerical simulation model is built, taking the influences of roughness, elastic deformation of piston and pressure-viscosity effect into consideration. With the simulation model, the dynamic characteristics of the radial micro-motion and pressure distribution are analyzed, and the relationships between radial micro-motion and carrying ability, lubrication condition, and abrasion are discussed. Furthermore, a model pump for pressure distribution measurement of oil film between piston and cylinder bore is designed. The comparison of simulation and experimental results of pressure distribution shows that the simulation model has high accuracy. The experiment and simulation results demonstrate that the pressure distribution has peak values that are much higher than the boundary pressure in the piston chamber due to the radial micro-motion, and the abrasion of piston takes place mainly on the hand close to piston ball. In addition, improvement of manufacturing roundness and straightness of piston and cylinder bore is helpful to improve the carrying ability of piston/cylinder pair. The proposed research provides references for designing piston/cylinder pair, and helps to prolong the service life of axial piston pump.展开更多
The dynamic characteristics related to micro-motions, such as mechanical vibration or rotation, play an essential role in classifying and recognizing ballistic targets in the midcourse, and recent researches explore w...The dynamic characteristics related to micro-motions, such as mechanical vibration or rotation, play an essential role in classifying and recognizing ballistic targets in the midcourse, and recent researches explore ways of extracting the micro-motion features from radar signals of ballistic targets. In this paper, we focus on how to investigate the micro-motion dynamic characteristics of the ballistic targets from the signals based on infrared (IR) detection, which is mainly achieved by analyzing the periodic fluctuation characteristics of the target IR irradiance intensity signatures. Simulation experiments demonstrate that the periodic characteristics of IR signatures can be used to distinguish different micro motion types and estimate related parameters. Consequently, this is possible to determine the micro-motion dynamics of ballistic targets based on IR detection.展开更多
A phase-derived velocity measurement method is proposed in a wideband coherent system,based on a precise echo model considering the inner pulse Doppler effect caused by fast moving targets.The Cramer-Rao low band of v...A phase-derived velocity measurement method is proposed in a wideband coherent system,based on a precise echo model considering the inner pulse Doppler effect caused by fast moving targets.The Cramer-Rao low band of velocity measurement precision is deduced,demonstrating the high precision of the proposed method.Simulations and out-field experiments further validate the effectiveness of the proposed method in high-precision measurement and micro-motion extraction for targets with weak reflection intensity.Compared with the long-time integration approaches for velocity measurement,the phase-derived method is easy to implement and meets the requirement for high data rate,which makes it suitable for micro-motion feature extraction in wideband systems.展开更多
The micro robot based on screw motion wheels, which features high payload/mass ratio, fast and continuous motion, adaptation to pipe diameter or roundness variations, is suitable for locomotion and inspection inside s...The micro robot based on screw motion wheels, which features high payload/mass ratio, fast and continuous motion, adaptation to pipe diameter or roundness variations, is suitable for locomotion and inspection inside small diameter pipelines. The robot inspection system, Tubot I, developed at Shanghai University is composed of locomotion mechanism with an inner motor, a micro CCD camera and a monitor outside the pipeline. In the paper, the kinematics and statics analyses are presented for the screw locomotion system of Tubot I. The moving characteristics are obtained from experiments on the robot prototype.展开更多
A new 6-DOF micro-manipulation robot based on 3-PPTTRS parallel mechanisms in combination with flexure hinges is proposed. The design principle of the mechanism is introduced, and the kinematics analysis method based ...A new 6-DOF micro-manipulation robot based on 3-PPTTRS parallel mechanisms in combination with flexure hinges is proposed. The design principle of the mechanism is introduced, and the kinematics analysis method based on differentiation is used to get the (inverse) kinematics equations. Then a micro-scale motion precision simulation method is proposed according to finite element analysis (FEA), and the prediction of robot’s motion precision in design phase is realized. The simulation result indicates that the 6-DOF micro-manipulation robot can meet the design specification.展开更多
Spatial precession is a special micro-motion of the spinning-directional target, and the micro-Doppler signature of the cone-shaped target with precession is studied. The micro-motion model of precession is built firs...Spatial precession is a special micro-motion of the spinning-directional target, and the micro-Doppler signature of the cone-shaped target with precession is studied. The micro-motion model of precession is built first, and then the micro-Doppler model is developed based on the proposed concept of micro-motion ma- trix, by which the theoretical formula of micro-Doppler signature of precession is derived. In order to further approach to the actual case, the occlusion effect is firstly considered in micro-Doppler, and the simulated result with occlusion effect is well in accordance with the measured result in microwave anechoic chamber, which suggests that the micro-motion model and micro-Doppler model of precession are both valid.展开更多
The Loess Plateau is an earthquake prone region of China, where the effects of loess deposit on ground motion were discovered during the 2008 Wenchuan earthquake(Ms8.0) and the 2013 Minxian-Zhangxian earthquake(Ms6.6)...The Loess Plateau is an earthquake prone region of China, where the effects of loess deposit on ground motion were discovered during the 2008 Wenchuan earthquake(Ms8.0) and the 2013 Minxian-Zhangxian earthquake(Ms6.6). The field investigations, observations, and analyses indicated that large number of casualties and tremendous economic losses were caused not only by collapse and damage of houses with poor seismic performance, landslides, but also amplification effects of site conditions, topography and thickness of loess deposit, on ground motion. In this paper, we chose Dazhai Village and Majiagou Village as the typical loess site affected by the two earthquakes for intensity evaluation, borehole exploration, temporary strong motion array, micro tremor survey, and numerical analysis. The aim is to explore the relations between amplification factors and site conditions in terms of topography and thickness of loess deposit. We also developed site amplification factors of ground motion for engineering design consideration at loess sites. The results showed that the amplification effects are more predominant with increase in thickness of loess deposit and slope height. The amplification mayincrease seismic intensity by 1 degree, PGA and predominant period by 2 times, respectively.展开更多
To measure projectile attitude in space flight, based on continuous wave （CW） radar, a new micro-Doppler effect testing technique is developed in this paper. It also establishes radar testing model for attitude of f...To measure projectile attitude in space flight, based on continuous wave （CW） radar, a new micro-Doppler effect testing technique is developed in this paper. It also establishes radar testing model for attitude of flying projectile and resolve micro-Doppler effect of projectile motion attitude. By distinguishing and geting attitude parameters such as micro-motion period, this technique can in- tuitively estimate the flight stability of projectile, and the validity of this technique is proved accord- ing to flight tests.展开更多
基金Project supported by the National Natural Science Foundation of China(Grant Nos.60901074,51075092,61005076,and 61175107)the National High Technology Research and Development Program of China(Grant No.2007AA042105)the Natural Science Foundation of Heilongjiang Province,China(Grant No.E200903)
文摘This paper develops a fast filtering algorithm based on vibration systems theory and neural information exchange approach. The characters, including the derivation process and parameter analysis, are discussed and the feasibility and the effectiveness are testified by the filtering performance compared with various filtering methods, such as the fast wavelet transform algorithm, the particle filtering method and our previously developed single degree of freedom vibration system filtering algorithm, according to simulation and practical approaches. Meanwhile, the comparisons indicate that a significant advantage of the proposed fast filtering algorithm is its extremely fast filtering speed with good filtering perfi^rmance. Further, the developed fast filtering algorithm is applied to the navigation and positioning system of the micro motion robot, which is a high real-time requirement for the signals preprocessing. Then, the preprocessing data is used to estimate the heading angle error and the attitude angle error of the micro motion robot. The estimation experiments illustrate the high practicality of the proposed fast filtering algorithm.
基金supported by National Natural Science Foundation of China(Grant No. 51075360)Doctoral Foundation of Ministry of Education of China(Grant No. 20090101110041)National Key Technology R&D Program of the Twelfth Five-year Plan of China(Grant No. 2011BAF09B03)
文摘The limit working parameters and service life of axial piston pump are determined by the carrying ability and lubrication characteristic of its key friction pairs. Therefore, the design and optimization of the key friction pairs are always a key and difficult problem in the research on axial piston pump. In the traditional research on piston/cylinder pair, the assembly relationship of piston and cylinder bore is simplified into ideal cylindrical pair, which can not be used to analyze the influences of radial micro-motion of piston on the distribution characteristics of oil-film thickness and pressure in details. In this paper, based on the lubrication theory of the oil film, a numerical simulation model is built, taking the influences of roughness, elastic deformation of piston and pressure-viscosity effect into consideration. With the simulation model, the dynamic characteristics of the radial micro-motion and pressure distribution are analyzed, and the relationships between radial micro-motion and carrying ability, lubrication condition, and abrasion are discussed. Furthermore, a model pump for pressure distribution measurement of oil film between piston and cylinder bore is designed. The comparison of simulation and experimental results of pressure distribution shows that the simulation model has high accuracy. The experiment and simulation results demonstrate that the pressure distribution has peak values that are much higher than the boundary pressure in the piston chamber due to the radial micro-motion, and the abrasion of piston takes place mainly on the hand close to piston ball. In addition, improvement of manufacturing roundness and straightness of piston and cylinder bore is helpful to improve the carrying ability of piston/cylinder pair. The proposed research provides references for designing piston/cylinder pair, and helps to prolong the service life of axial piston pump.
文摘The dynamic characteristics related to micro-motions, such as mechanical vibration or rotation, play an essential role in classifying and recognizing ballistic targets in the midcourse, and recent researches explore ways of extracting the micro-motion features from radar signals of ballistic targets. In this paper, we focus on how to investigate the micro-motion dynamic characteristics of the ballistic targets from the signals based on infrared (IR) detection, which is mainly achieved by analyzing the periodic fluctuation characteristics of the target IR irradiance intensity signatures. Simulation experiments demonstrate that the periodic characteristics of IR signatures can be used to distinguish different micro motion types and estimate related parameters. Consequently, this is possible to determine the micro-motion dynamics of ballistic targets based on IR detection.
基金Supported by the National Natural Science Foundation of China(61301189)111 Project of China(B14010)
文摘A phase-derived velocity measurement method is proposed in a wideband coherent system,based on a precise echo model considering the inner pulse Doppler effect caused by fast moving targets.The Cramer-Rao low band of velocity measurement precision is deduced,demonstrating the high precision of the proposed method.Simulations and out-field experiments further validate the effectiveness of the proposed method in high-precision measurement and micro-motion extraction for targets with weak reflection intensity.Compared with the long-time integration approaches for velocity measurement,the phase-derived method is easy to implement and meets the requirement for high data rate,which makes it suitable for micro-motion feature extraction in wideband systems.
基金Supported by National High TechR&DProgramin China!( 86 3 5 1 2 970 4 2 6 86 3 5 1 2 980 4 1 8)
文摘The micro robot based on screw motion wheels, which features high payload/mass ratio, fast and continuous motion, adaptation to pipe diameter or roundness variations, is suitable for locomotion and inspection inside small diameter pipelines. The robot inspection system, Tubot I, developed at Shanghai University is composed of locomotion mechanism with an inner motor, a micro CCD camera and a monitor outside the pipeline. In the paper, the kinematics and statics analyses are presented for the screw locomotion system of Tubot I. The moving characteristics are obtained from experiments on the robot prototype.
基金the Research Fund for the Doctoral Programof Higher Education(20060007023)
文摘A new 6-DOF micro-manipulation robot based on 3-PPTTRS parallel mechanisms in combination with flexure hinges is proposed. The design principle of the mechanism is introduced, and the kinematics analysis method based on differentiation is used to get the (inverse) kinematics equations. Then a micro-scale motion precision simulation method is proposed according to finite element analysis (FEA), and the prediction of robot’s motion precision in design phase is realized. The simulation result indicates that the 6-DOF micro-manipulation robot can meet the design specification.
文摘Spatial precession is a special micro-motion of the spinning-directional target, and the micro-Doppler signature of the cone-shaped target with precession is studied. The micro-motion model of precession is built first, and then the micro-Doppler model is developed based on the proposed concept of micro-motion ma- trix, by which the theoretical formula of micro-Doppler signature of precession is derived. In order to further approach to the actual case, the occlusion effect is firstly considered in micro-Doppler, and the simulated result with occlusion effect is well in accordance with the measured result in microwave anechoic chamber, which suggests that the micro-motion model and micro-Doppler model of precession are both valid.
基金financially supported by National Natural Science Foundation of China (No.51478444 & No.41472297)
文摘The Loess Plateau is an earthquake prone region of China, where the effects of loess deposit on ground motion were discovered during the 2008 Wenchuan earthquake(Ms8.0) and the 2013 Minxian-Zhangxian earthquake(Ms6.6). The field investigations, observations, and analyses indicated that large number of casualties and tremendous economic losses were caused not only by collapse and damage of houses with poor seismic performance, landslides, but also amplification effects of site conditions, topography and thickness of loess deposit, on ground motion. In this paper, we chose Dazhai Village and Majiagou Village as the typical loess site affected by the two earthquakes for intensity evaluation, borehole exploration, temporary strong motion array, micro tremor survey, and numerical analysis. The aim is to explore the relations between amplification factors and site conditions in terms of topography and thickness of loess deposit. We also developed site amplification factors of ground motion for engineering design consideration at loess sites. The results showed that the amplification effects are more predominant with increase in thickness of loess deposit and slope height. The amplification mayincrease seismic intensity by 1 degree, PGA and predominant period by 2 times, respectively.
基金Supported by the National Natural Science Fundation of China(61174219)
文摘To measure projectile attitude in space flight, based on continuous wave （CW） radar, a new micro-Doppler effect testing technique is developed in this paper. It also establishes radar testing model for attitude of flying projectile and resolve micro-Doppler effect of projectile motion attitude. By distinguishing and geting attitude parameters such as micro-motion period, this technique can in- tuitively estimate the flight stability of projectile, and the validity of this technique is proved accord- ing to flight tests.
