High-speed pick-and-place parallel robot is a system where the inertia imposed on the motor shafts is real-time changing with the system configurations.High quality of computer control with proper controller parameter...High-speed pick-and-place parallel robot is a system where the inertia imposed on the motor shafts is real-time changing with the system configurations.High quality of computer control with proper controller parameters is conducive to overcoming this problem and has a significant effect on reducing the robot＇s tracking error.By taking Delta robot as an example,a method for parameter tuning of the fixed gain motion controller is presented.Having identifying the parameters of the servo system in the frequency domain by the sinusoidal excitation,the PD＋feedforward control strategy is proposed to adapt to the varying inertia loads,allowing the controller parameters to be tuned by minimizing the mean square tracking error along a typical trajectory.A set of optimum parameters is obtained through computer simulations and the effectiveness of the proposed approach is validated by experiments on a real prototype machine.Let the traveling plate undergoes a specific trajectory and the results show that the tracking error can be reduced by at least 50%in comparison with the conventional auto-tuning and Z-N methods.The proposed approach is a whole workspace optimization and can be applied to the parameter tuning of fixed gain motion controllers.展开更多
Aeromagnetic interference could not be compensated effectively if the precision of parameters which are solved by the aircraft magnetic field model is low. In order to improve the compensation effect under this condit...Aeromagnetic interference could not be compensated effectively if the precision of parameters which are solved by the aircraft magnetic field model is low. In order to improve the compensation effect under this condition, a method based on small signal model and least mean square（LMS） algorithm is proposed. According to the method, the initial values of adaptive filter＇s weight vector are calculated with the solved model parameters through small signal model at first,then the small amount of direction cosine and its derivative are set as the input of the filter, and the small amount of the interference is set as the filter＇s expected vector. After that, the aircraft magnetic interference is compensated by LMS algorithm. Finally, the method is verified by simulation and experiment. The result shows that the compensation effect can be improved obviously by the LMS algorithm when original solved parameters have low precision. The method can further improve the compensation effect even if the solved parameters have high precision.展开更多
Drill machines used in surface mines, particularly in coal, is characterized by a very poor utilization （around 40%） and low availability （around 60%）. The main purpose of this study is to develop a drill selec- t...Drill machines used in surface mines, particularly in coal, is characterized by a very poor utilization （around 40%） and low availability （around 60%）. The main purpose of this study is to develop a drill selec- tion methodology and simultaneously a performance evaluation technique based on drill cuttings produced and drilling rate achieved. In all 28 blast drilled through were investigated. The drilling was accomplished by 5 different drill machines of Ingersoll-Rand and Revathi working in coal mines of Sonepur Bazari （SECL） and Block-II （BCCL）. The drills are Rotary and Rotary Percussive type using tri- cone rock roller bits. Drill cuttings were collected and sieve analysis was done in the laboratory. Using Rosin Ramler Diagram, coarseness index （CI）, mean chip size （d）, specific-st trace area （SSA） and charac- teristic particle size distribution curves for all the holes drilled were plotted. The predictor equation for drill penetration rate established through multiple regressions was found to have a very good correlation with an index of determination of 0.85. A comparative analysis of particle size distribution curves was used to evaluate the drill efficiency. The suggested approach utilises the area under the curve, after the point of trend reversal and brittleness ratio of the respective bench to arrive at drill energy utilization index （DEUI）, for mapping of drill machine to bench, The developed DEU1 can aid in selecting or mapping a right machine to right bench for achieving higher penetration rate and utilizations.展开更多
Climate change and variability have been inducing a broad spectrum of impacts on the environment and natural resources including groundwater resources. The study aimed at assessing the influence of weather, climate va...Climate change and variability have been inducing a broad spectrum of impacts on the environment and natural resources including groundwater resources. The study aimed at assessing the influence of weather, climate variability, and changes on the quality of groundwater resources in Zanzibar. The study used the climate datasets including rainfall (RF), Maximum and Minimum Temperature (T<sub>max</sub> and T<sub>min</sub>), the records acquired from Tanzania Meteorological Authority (TMA) Zanzibar office for 30 (1989-2019) and 10 (2010-2019) years periods. Also, the Zanzibar Water Authority (ZAWA) monthly records of Total Dissolved Solids (TDS), Electrical Conductivity (EC), and Ground Water Temperature (GWT) were used. Interpolation techniques were used for controlling outliers and missing datasets. Indeed, correlation, trend, and time series analyses were used to show the relationship between climate and water quality parameters. However, simple statistical analyses including mean, percentage changes, and contributions to the annual and seasonal mean were calculated. Moreover, t and paired t-tests were used to show the significant changes in the mean of the variables for two defined periods of 2011-2015 and 2016-2020 at p ≤ 0.05. Results revealed that seasonal variability of groundwater quality from March to May (MAM) has shown a significant change in trends ranging from 0.1 to 2.8 mm/L/yr, 0.1 to 2.8 μS/cm/yr, and 0.1 to 2.0℃/yr for TDS, EC, and GWT, respectively. The changes in climate parameters were 0.1 to 2.4 mm/yr, 0.2 to 1.3℃/yr and 0.1 to 2.5℃/yr in RF, T<sub>max</sub>, and T<sub>min</sub>, respectively. From October to December (OND) changes in groundwater parameters ranged from 0.2 to 2.5 mm/L/yr 0.1 to 2.9 μS/cm/yr, and 0.1 to 2.1℃/yr for TDS, EC, and GWT, whereas RF, T<sub>max</sub>, and T<sub>min</sub> changed from 0.3 to 1.8 mm/yr, 0.2 to 1.9℃/yr and 0.2 to 2.0℃/yr, respectively. Moreover, the study has shown strong correlations between climate and water quality parameters in MAM and OND. Besides, the paired correlation has shown significant changes in all parameters except the rainfall. Conclusively, the study has shown a strong influence of climate variability on the quality of groundwater in Zanzibar, and calls for more studies to extrapolate these results throughout Tanzania.展开更多
Efficient parameterization of point-sampled surfaces is a fundamental problem in the field of digital geometry processing. In order to parameterize a given point-sampled surface for minimal distance distortion, a diff...Efficient parameterization of point-sampled surfaces is a fundamental problem in the field of digital geometry processing. In order to parameterize a given point-sampled surface for minimal distance distortion, a differentialslbased segmentation and parameterization approach is proposed in this paper. Our approach partitions the point-sampled geometry based on two criteria： variation of Euclidean distance between sample points, and angular difference between surface differential directions. According to the analysis of normal curvatures for some specified directions, a new projection approach is adopted to estimate the local surface differentials. Then a k-means clustering （k-MC） algorithm is used for partitioning the model into a set of charts based on the estimated local surface attributes. Finally, each chart is parameterized with a statistical method -- multidimensional scaling （MDS） approach, and the parameterization results of all charts form an atlas for compact storage.展开更多
In this study, we present the nonlinear interactions between gravity waves (GWs) and tides by using the 2D numerical model for the nonlinear propagation of GWs in the compressible atmosphere. During the propagation in...In this study, we present the nonlinear interactions between gravity waves (GWs) and tides by using the 2D numerical model for the nonlinear propagation of GWs in the compressible atmosphere. During the propagation in the tidal background, GWs become instable in three regions, that is z = 75―85 km, z = 90―110 km and z = 115―130 km. The vertical wavelength firstly varies gradually from the initial 12 km to 27 km. Then the newly generated longer waves are gradually compressed. The longer and shorter waves occur in the regions where GWs propagate in the reverse and the same direction of the hori-zontal mean wind respectively. In addition, GWs can propagate above the main breaking region (90—110 km). During GWs propagation, not only the mean wind is accelerated, but also the amplitude of tide is amplified. Especially, after GWs become instable, this amplified effect to the tidal amplitude is much obvious.展开更多
This paper proposes a novel method, called model transduction, to directly transfer pose between different meshes, without the need of building the skeleton configurations for meshes. Different from previous retargett...This paper proposes a novel method, called model transduction, to directly transfer pose between different meshes, without the need of building the skeleton configurations for meshes. Different from previous retargetting methods, such as deformation transfer, model transduction does not require a reference source mesh to obtain the source deformation, thus effectively avoids unsatisfying results when the source and target have different reference poses. Moreover, we show other two applications of the model transduction method： pose correction after various mesh editing operations, and skeleton-free deformation animation based on 3D Mocap （Motion capture） data. Model transduction is based on two ingredients： model deformation and model correspondence. Specifically, based on the mean-value manifold operator, our mesh deformation method produces visually pleasing deformation results under large angle rotations or big-scale translations of handles. Then we propose a novel scheme for shape-preserving correspondence between manifold meshes. Our method fits nicely in a unified framework, where the similar type of operator is applied in all phases. The resulting quadratic formulation can be efficiently minimized by fast solving the sparse linear system. Experimental results show that model transduction can successfully transfer both complex skeletal structures and subtle skin deformations.展开更多
基金Supported by National Natural Science Foundation of China(Grant Nos.51305293,51135008)
文摘High-speed pick-and-place parallel robot is a system where the inertia imposed on the motor shafts is real-time changing with the system configurations.High quality of computer control with proper controller parameters is conducive to overcoming this problem and has a significant effect on reducing the robot＇s tracking error.By taking Delta robot as an example,a method for parameter tuning of the fixed gain motion controller is presented.Having identifying the parameters of the servo system in the frequency domain by the sinusoidal excitation,the PD＋feedforward control strategy is proposed to adapt to the varying inertia loads,allowing the controller parameters to be tuned by minimizing the mean square tracking error along a typical trajectory.A set of optimum parameters is obtained through computer simulations and the effectiveness of the proposed approach is validated by experiments on a real prototype machine.Let the traveling plate undergoes a specific trajectory and the results show that the tracking error can be reduced by at least 50%in comparison with the conventional auto-tuning and Z-N methods.The proposed approach is a whole workspace optimization and can be applied to the parameter tuning of fixed gain motion controllers.
基金co-supported by the National Basic Research Program of China (No. 623125020103)
文摘Aeromagnetic interference could not be compensated effectively if the precision of parameters which are solved by the aircraft magnetic field model is low. In order to improve the compensation effect under this condition, a method based on small signal model and least mean square（LMS） algorithm is proposed. According to the method, the initial values of adaptive filter＇s weight vector are calculated with the solved model parameters through small signal model at first,then the small amount of direction cosine and its derivative are set as the input of the filter, and the small amount of the interference is set as the filter＇s expected vector. After that, the aircraft magnetic interference is compensated by LMS algorithm. Finally, the method is verified by simulation and experiment. The result shows that the compensation effect can be improved obviously by the LMS algorithm when original solved parameters have low precision. The method can further improve the compensation effect even if the solved parameters have high precision.
文摘Drill machines used in surface mines, particularly in coal, is characterized by a very poor utilization （around 40%） and low availability （around 60%）. The main purpose of this study is to develop a drill selec- tion methodology and simultaneously a performance evaluation technique based on drill cuttings produced and drilling rate achieved. In all 28 blast drilled through were investigated. The drilling was accomplished by 5 different drill machines of Ingersoll-Rand and Revathi working in coal mines of Sonepur Bazari （SECL） and Block-II （BCCL）. The drills are Rotary and Rotary Percussive type using tri- cone rock roller bits. Drill cuttings were collected and sieve analysis was done in the laboratory. Using Rosin Ramler Diagram, coarseness index （CI）, mean chip size （d）, specific-st trace area （SSA） and charac- teristic particle size distribution curves for all the holes drilled were plotted. The predictor equation for drill penetration rate established through multiple regressions was found to have a very good correlation with an index of determination of 0.85. A comparative analysis of particle size distribution curves was used to evaluate the drill efficiency. The suggested approach utilises the area under the curve, after the point of trend reversal and brittleness ratio of the respective bench to arrive at drill energy utilization index （DEUI）, for mapping of drill machine to bench, The developed DEU1 can aid in selecting or mapping a right machine to right bench for achieving higher penetration rate and utilizations.
文摘Climate change and variability have been inducing a broad spectrum of impacts on the environment and natural resources including groundwater resources. The study aimed at assessing the influence of weather, climate variability, and changes on the quality of groundwater resources in Zanzibar. The study used the climate datasets including rainfall (RF), Maximum and Minimum Temperature (T<sub>max</sub> and T<sub>min</sub>), the records acquired from Tanzania Meteorological Authority (TMA) Zanzibar office for 30 (1989-2019) and 10 (2010-2019) years periods. Also, the Zanzibar Water Authority (ZAWA) monthly records of Total Dissolved Solids (TDS), Electrical Conductivity (EC), and Ground Water Temperature (GWT) were used. Interpolation techniques were used for controlling outliers and missing datasets. Indeed, correlation, trend, and time series analyses were used to show the relationship between climate and water quality parameters. However, simple statistical analyses including mean, percentage changes, and contributions to the annual and seasonal mean were calculated. Moreover, t and paired t-tests were used to show the significant changes in the mean of the variables for two defined periods of 2011-2015 and 2016-2020 at p ≤ 0.05. Results revealed that seasonal variability of groundwater quality from March to May (MAM) has shown a significant change in trends ranging from 0.1 to 2.8 mm/L/yr, 0.1 to 2.8 μS/cm/yr, and 0.1 to 2.0℃/yr for TDS, EC, and GWT, respectively. The changes in climate parameters were 0.1 to 2.4 mm/yr, 0.2 to 1.3℃/yr and 0.1 to 2.5℃/yr in RF, T<sub>max</sub>, and T<sub>min</sub>, respectively. From October to December (OND) changes in groundwater parameters ranged from 0.2 to 2.5 mm/L/yr 0.1 to 2.9 μS/cm/yr, and 0.1 to 2.1℃/yr for TDS, EC, and GWT, whereas RF, T<sub>max</sub>, and T<sub>min</sub> changed from 0.3 to 1.8 mm/yr, 0.2 to 1.9℃/yr and 0.2 to 2.0℃/yr, respectively. Moreover, the study has shown strong correlations between climate and water quality parameters in MAM and OND. Besides, the paired correlation has shown significant changes in all parameters except the rainfall. Conclusively, the study has shown a strong influence of climate variability on the quality of groundwater in Zanzibar, and calls for more studies to extrapolate these results throughout Tanzania.
基金This work is supported by the National Grand Fundamental Research 973 Program of China under Grant No.2002CB312101National Natural Science Foundation of China(NSFC)under Grant Nos. 60503056,60333010the Natural Science Foundation of Zhejiang Province under Grant No.R106449.
文摘Efficient parameterization of point-sampled surfaces is a fundamental problem in the field of digital geometry processing. In order to parameterize a given point-sampled surface for minimal distance distortion, a differentialslbased segmentation and parameterization approach is proposed in this paper. Our approach partitions the point-sampled geometry based on two criteria： variation of Euclidean distance between sample points, and angular difference between surface differential directions. According to the analysis of normal curvatures for some specified directions, a new projection approach is adopted to estimate the local surface differentials. Then a k-means clustering （k-MC） algorithm is used for partitioning the model into a set of charts based on the estimated local surface attributes. Finally, each chart is parameterized with a statistical method -- multidimensional scaling （MDS） approach, and the parameterization results of all charts form an atlas for compact storage.
基金the National Natural Science Foundation of China (Grant Nos. 40621003, 40225011 and 40674088)the National Major Basic Research Project (Grant No. 2006CB806306)in part by the Foundation of the Key Laboratory of Geospace Environment & Geodesy of Ministry of Education, China
文摘In this study, we present the nonlinear interactions between gravity waves (GWs) and tides by using the 2D numerical model for the nonlinear propagation of GWs in the compressible atmosphere. During the propagation in the tidal background, GWs become instable in three regions, that is z = 75―85 km, z = 90―110 km and z = 115―130 km. The vertical wavelength firstly varies gradually from the initial 12 km to 27 km. Then the newly generated longer waves are gradually compressed. The longer and shorter waves occur in the regions where GWs propagate in the reverse and the same direction of the hori-zontal mean wind respectively. In addition, GWs can propagate above the main breaking region (90—110 km). During GWs propagation, not only the mean wind is accelerated, but also the amplitude of tide is amplified. Especially, after GWs become instable, this amplified effect to the tidal amplitude is much obvious.
基金supported by the National Natural Science Foundation of China under Grant Nos. 60903060 and 60675012the National High-Tech Research and Development 863 Program of China under Grant No. 2009AA012104the China Postdoctoral Science Foundation under Grant No. 20080440258
文摘This paper proposes a novel method, called model transduction, to directly transfer pose between different meshes, without the need of building the skeleton configurations for meshes. Different from previous retargetting methods, such as deformation transfer, model transduction does not require a reference source mesh to obtain the source deformation, thus effectively avoids unsatisfying results when the source and target have different reference poses. Moreover, we show other two applications of the model transduction method： pose correction after various mesh editing operations, and skeleton-free deformation animation based on 3D Mocap （Motion capture） data. Model transduction is based on two ingredients： model deformation and model correspondence. Specifically, based on the mean-value manifold operator, our mesh deformation method produces visually pleasing deformation results under large angle rotations or big-scale translations of handles. Then we propose a novel scheme for shape-preserving correspondence between manifold meshes. Our method fits nicely in a unified framework, where the similar type of operator is applied in all phases. The resulting quadratic formulation can be efficiently minimized by fast solving the sparse linear system. Experimental results show that model transduction can successfully transfer both complex skeletal structures and subtle skin deformations.
