The elastic prestressed ultrasonic peen forming(UPF)was adopted in order to solve problems of insufficient bending deformation and large spherical deformation of plate during free UPF.The theoretical analysis of prest...The elastic prestressed ultrasonic peen forming(UPF)was adopted in order to solve problems of insufficient bending deformation and large spherical deformation of plate during free UPF.The theoretical analysis of prestressed UPF and the influence of elastic prebending moment on deformation were analyzed.Spherical deformation coefficient was defined to quantificationally describe the spherical deformation.Experiments were conducted to compare the differences between free UPF and prestressed UPF processes and the effects of processing parameters on bending curvature and spherical deformation coefficient were studied.The results show that peening trajectory in chordwise direction is beneficial to enlarging spanwise bending deformation and decreasing spherical deformation coefficient.Large prebending curvature is helpful to increase spanwise bending deformation and decrease chordwise deformation,thereby obviously decreasing spherical deformation coefficient.Large spanwise deformation can be obtained under large firing pin velocity,small plate thickness and small offset distance.Large firing pin velocity plays a positive role in decreasing spherical deformation,while plate thickness and offset distance have little effect on it.Above all,prebending curvature and peening trajectory are the most important factors during prestressed UPF process.This study provides guidance for parameters optimization of prestressed UPF for wing plate with large thickness.展开更多
To complete the contact fatigue reliability analysis of spur gear under elastohydrodynamic lubrication(EHL) efficiently and accurately, an intelligent method is proposed. Oil film pressure is approximated using quadra...To complete the contact fatigue reliability analysis of spur gear under elastohydrodynamic lubrication(EHL) efficiently and accurately, an intelligent method is proposed. Oil film pressure is approximated using quadratic polynomial with intercrossing term and then mapped into the Hertz contact zone. Considering the randomness of the EHL, material properties and fatigue strength correction factors, the probabilistic reliability analysis model is established using artificial neural network(ANN). Genetic algorithm(GA) is employed to search the minimum reliability index and the design point by introducing an adjusting factor in penalty function. Reliability sensitivity analysis is completed based on the advanced first order second moment(AFOSM). Numerical example shows that the established probabilistic reliability analysis model could correctly reflect the effect of EHL on contact fatigue of spur gear, and the proposed intelligent method has an excellent global search capability as well as a highly efficient computing performance compared with the traditional Monte Carlo method(MCM).展开更多
In order to consider the effects of elastohydrodynamic lubrication(EHL) on contact fatigue reliability of spur gear, an accurate and efficient method that combines with response surface method(RSM) and first order sec...In order to consider the effects of elastohydrodynamic lubrication(EHL) on contact fatigue reliability of spur gear, an accurate and efficient method that combines with response surface method(RSM) and first order second moment method(FOSM) was developed for estimating the contact fatigue reliability of spur gear under EHL. The mechanical model of contact stress analysis of spur gear under EHL was established, in which the oil film pressure was mapped into hertz contact zone. Considering the randomness of EHL, material properties and fatigue strength correction factors, the proposed method was used to analyze the contact fatigue reliability of spur gear under EHL. Compared with the results of 1.5×105 by traditional Monte-Carlo, the difference between the two failure probability results calculated by the above mentioned methods is 2.2×10-4, the relative error of the failure probability results is 26.8%, and time-consuming only accounts for 0.14% of the traditional Monte-Carlo method(MCM). Sensitivity analysis results are in very good agreement with practical cognition. Analysis results show that the proposed method is precise and efficient, and could correctly reflect the influence of EHL on contact fatigue reliability of spur gear.展开更多
In this work,synchronous cutting of concave and convex surfaces was achieved using the duplex helical method for the hypoid gear,and the problem of tooth surface error correction was studied.First,the mathematical mod...In this work,synchronous cutting of concave and convex surfaces was achieved using the duplex helical method for the hypoid gear,and the problem of tooth surface error correction was studied.First,the mathematical model of the hypoid gears machined by the duplex helical method was established.Second,the coordinates of discrete points on the tooth surface were obtained by measurement center,and the normal errors of the discrete points were calculated.Third,a tooth surface error correction model is established,and the tooth surface error was corrected using the Levenberg-Marquard algorithm with trust region strategy and least square method.Finally,grinding experiments were carried out on the machining parameters obtained by Levenberg-Marquard algorithm with trust region strategy,which had a better effect on tooth surface error correction than the least square method.After the tooth surface error is corrected,the maximum absolute error is reduced from 30.9μm before correction to 6.8μm,the root mean square of the concave error is reduced from 15.1 to 2.1μm,the root mean square of the convex error is reduced from 10.8 to 1.8μm,and the sum of squared errors of the concave and convex surfaces was reduced from 15471 to 358μm^(2).It is verified that the Levenberg-Marquard algorithm with trust region strategy has a good accuracy for the tooth surface error correction of hypoid gear machined by duplex helical method.展开更多
By using the finite element method （FEM）, we comprehensively analyzed the fields of temperature, organization, and stress in 35CrMo train axles during the quenching process is conducted, and experimentally studied t...By using the finite element method （FEM）, we comprehensively analyzed the fields of temperature, organization, and stress in 35CrMo train axles during the quenching process is conducted, and experimentally studied the formation and evolution of inner stresses in axles during the quenching process. The results show that in the quenching process, stresses on the axle surface change from tensile to compressive gradually, while stresses in the axle core change from compressive to tensile gradually. Heat stresses and the amount of martensitic transformation are all increased with the increase of cooling rate. As a result, the maximmn instantaneous stresses in the axle are increased greatly when the cooling rate is increased with brine quenching. Large instantaneous tensile stress in the axle core with brine quenching is very likely to cause quench cracking and should be avoided.展开更多
An iterative method is introduced successfully to solve the inverse kinematics of a 6-DOF manipulator of a tunnel drilling rig based on dual quaternion, which is difficult to get the solution by Denavit-Hartenberg(D-H...An iterative method is introduced successfully to solve the inverse kinematics of a 6-DOF manipulator of a tunnel drilling rig based on dual quaternion, which is difficult to get the solution by Denavit-Hartenberg(D-H) based methods. By the intuitive expression of dual quaternion to the orientation of rigid body, the coordinate frames assigned to each joint are established all in the same orientation, which does not need to use the D-H procedure. The compact and simple form of kinematic equations, consisting of position equations and orientation equations, is also the consequence of dual quaternion calculations. The iterative process is basically of two steps which are related to solving the position equations and orientation equations correspondingly. First, assume an initial value of the iterative variable; then, the position equations can be solved because of the reduced number of unknown variables in the position equations and the orientation equations can be solved by applying the solution from the position equations, which obtains an updated value for the iterative variable; finally, repeat the procedure by using the updated iterative variable to the position equations till the prescribed accuracy is obtained. The method proposed has a clear geometric meaning, and the algorithm is simple and direct. Simulation for 100 poses of the end frame shows that the average running time of inverse kinematics calculation for each demanded pose of end-effector is 7.2 ms on an ordinary laptop, which is good enough for practical use. The iteration counts 2-4 cycles generally, which is a quick convergence. The method proposed here has been successfully used in the project of automating a hydraulic rig.展开更多
An intuitive method for circle fitting is proposed. Assuming an approximate circle(CA,n) for the fitting of some scattered points, it can be imagined that every point would apply a force to CA,n, which all together fo...An intuitive method for circle fitting is proposed. Assuming an approximate circle(CA,n) for the fitting of some scattered points, it can be imagined that every point would apply a force to CA,n, which all together form an overall effect that "draws" CA,n towards best fitting to the group of points. The basic element of the force is called circular attracting factor(CAF) which is defined as a real scalar in a radial direction of CA,n. An iterative algorithm based on this idea is proposed, and the convergence and accuracy are analyzed. The algorithm converges uniformly which is proved by the analysis of Lyapunov function, and the accuracy of the algorithm is in accord with that of geometric least squares of circle fitting. The algorithm is adopted to circle detection in grayscale images, in which the transferring to binary images is not required, and thus the algorithm is less sensitive to lightening and background noise. The main point for the adaption is the calculation of CAF which is extended in radial directions of CA,n for the whole image. All pixels would apply forces to CA,n, and the overall effect of forces would be equivalent to a force from the centroid of pixels to CA,n. The forces from would-be edge pixels would overweigh that from noisy pixels, so the following approximate circle would be of better fitting. To reduce the amount of calculation, pixels are only used in an annular area including the boundary of CA,n just in between for the calculation of CAF. Examples are given, showing the process of circle fitting of scattered points around a circle from an initial assuming circle, comparing the fitting results for scattered points from some related literature, applying the method proposed for circular edge detection in grayscale images with noise, and/or with only partial arc of a circle, and for circle detection in BGA inspection.展开更多
Natural language processing has got great progress recently. Controlling robots with spoken natural language has become expectable. With the reliability problem of this kind of control in mind a confirmation process o...Natural language processing has got great progress recently. Controlling robots with spoken natural language has become expectable. With the reliability problem of this kind of control in mind a confirmation process of natural language instruction should be included before carried out by the robot autonomously and the prototype dialog system was designed thus the standardization problem was raised for the natural and understandable language interaction. In the application background of remotely navigating a mobile robot inside a building with Chinese natural spoken language considering that as an important navigation element in instructions a place name can be expressed with different lexical terms in spoken language this paper proposes a model for substituting different alternatives of a place name with a standard one (called standardization). First a CRF (Conditional Random Fields) model is trained to label the term required be standardized then a trained word embedding model is to represent lexical terms as digital vectors. In the vector space similarity of lexical terms is defined and used to find out the most similar one to the term picked out to be standardized. Experiments show that the method proposed works well and the dialog system responses to confirm the instructions are natural and understandable.展开更多
基金Project(51705248) supported by the National Natural Science Foundation of ChinaProject(BK20170785) supported by the Natural Science Foundation of Jiangsu Province,China+2 种基金Project(BE2016179) supported by the Science and Technology Planning Project of Jiangsu Province,ChinaProject(Kfkt2017-08) supported by the Open Research Fund of State Key Laboratory for High Performance Complex Manufacturing,Central South University,ChinaProject(90YAH17038) supported by the Scientific Research Staring Foundation for Talent Introduction of Nanjing University of Aeronautics and Astronautics,China
文摘The elastic prestressed ultrasonic peen forming(UPF)was adopted in order to solve problems of insufficient bending deformation and large spherical deformation of plate during free UPF.The theoretical analysis of prestressed UPF and the influence of elastic prebending moment on deformation were analyzed.Spherical deformation coefficient was defined to quantificationally describe the spherical deformation.Experiments were conducted to compare the differences between free UPF and prestressed UPF processes and the effects of processing parameters on bending curvature and spherical deformation coefficient were studied.The results show that peening trajectory in chordwise direction is beneficial to enlarging spanwise bending deformation and decreasing spherical deformation coefficient.Large prebending curvature is helpful to increase spanwise bending deformation and decrease chordwise deformation,thereby obviously decreasing spherical deformation coefficient.Large spanwise deformation can be obtained under large firing pin velocity,small plate thickness and small offset distance.Large firing pin velocity plays a positive role in decreasing spherical deformation,while plate thickness and offset distance have little effect on it.Above all,prebending curvature and peening trajectory are the most important factors during prestressed UPF process.This study provides guidance for parameters optimization of prestressed UPF for wing plate with large thickness.
基金Project(CX2014B060) supported by Hunan Provincial Innovation for Postgraduate,ChinaProject(8130208) supported by General Armament Pre-research Foundation
文摘To complete the contact fatigue reliability analysis of spur gear under elastohydrodynamic lubrication(EHL) efficiently and accurately, an intelligent method is proposed. Oil film pressure is approximated using quadratic polynomial with intercrossing term and then mapped into the Hertz contact zone. Considering the randomness of the EHL, material properties and fatigue strength correction factors, the probabilistic reliability analysis model is established using artificial neural network(ANN). Genetic algorithm(GA) is employed to search the minimum reliability index and the design point by introducing an adjusting factor in penalty function. Reliability sensitivity analysis is completed based on the advanced first order second moment(AFOSM). Numerical example shows that the established probabilistic reliability analysis model could correctly reflect the effect of EHL on contact fatigue of spur gear, and the proposed intelligent method has an excellent global search capability as well as a highly efficient computing performance compared with the traditional Monte Carlo method(MCM).
基金Project(CX2014B060)supported by Hunan Provincial Innovation for Postgraduate,ChinaProject(8130208)supported by General Armament Pre-research Foundation,China
文摘In order to consider the effects of elastohydrodynamic lubrication(EHL) on contact fatigue reliability of spur gear, an accurate and efficient method that combines with response surface method(RSM) and first order second moment method(FOSM) was developed for estimating the contact fatigue reliability of spur gear under EHL. The mechanical model of contact stress analysis of spur gear under EHL was established, in which the oil film pressure was mapped into hertz contact zone. Considering the randomness of EHL, material properties and fatigue strength correction factors, the proposed method was used to analyze the contact fatigue reliability of spur gear under EHL. Compared with the results of 1.5×105 by traditional Monte-Carlo, the difference between the two failure probability results calculated by the above mentioned methods is 2.2×10-4, the relative error of the failure probability results is 26.8%, and time-consuming only accounts for 0.14% of the traditional Monte-Carlo method(MCM). Sensitivity analysis results are in very good agreement with practical cognition. Analysis results show that the proposed method is precise and efficient, and could correctly reflect the influence of EHL on contact fatigue reliability of spur gear.
基金Projects(52075552,51575533,51805555,11662004)supported by the National Natural Science Foundation of China。
文摘In this work,synchronous cutting of concave and convex surfaces was achieved using the duplex helical method for the hypoid gear,and the problem of tooth surface error correction was studied.First,the mathematical model of the hypoid gears machined by the duplex helical method was established.Second,the coordinates of discrete points on the tooth surface were obtained by measurement center,and the normal errors of the discrete points were calculated.Third,a tooth surface error correction model is established,and the tooth surface error was corrected using the Levenberg-Marquard algorithm with trust region strategy and least square method.Finally,grinding experiments were carried out on the machining parameters obtained by Levenberg-Marquard algorithm with trust region strategy,which had a better effect on tooth surface error correction than the least square method.After the tooth surface error is corrected,the maximum absolute error is reduced from 30.9μm before correction to 6.8μm,the root mean square of the concave error is reduced from 15.1 to 2.1μm,the root mean square of the convex error is reduced from 10.8 to 1.8μm,and the sum of squared errors of the concave and convex surfaces was reduced from 15471 to 358μm^(2).It is verified that the Levenberg-Marquard algorithm with trust region strategy has a good accuracy for the tooth surface error correction of hypoid gear machined by duplex helical method.
基金Funded by the National Basic Research Program of China(Nos.2010CB731703,2012CB619505)the National Natural Science Foundation of China(Nos.51405520,51327902)
文摘By using the finite element method （FEM）, we comprehensively analyzed the fields of temperature, organization, and stress in 35CrMo train axles during the quenching process is conducted, and experimentally studied the formation and evolution of inner stresses in axles during the quenching process. The results show that in the quenching process, stresses on the axle surface change from tensile to compressive gradually, while stresses in the axle core change from compressive to tensile gradually. Heat stresses and the amount of martensitic transformation are all increased with the increase of cooling rate. As a result, the maximmn instantaneous stresses in the axle are increased greatly when the cooling rate is increased with brine quenching. Large instantaneous tensile stress in the axle core with brine quenching is very likely to cause quench cracking and should be avoided.
基金Project(2013CB035504)supported by the National Basic Research Program of China
文摘An iterative method is introduced successfully to solve the inverse kinematics of a 6-DOF manipulator of a tunnel drilling rig based on dual quaternion, which is difficult to get the solution by Denavit-Hartenberg(D-H) based methods. By the intuitive expression of dual quaternion to the orientation of rigid body, the coordinate frames assigned to each joint are established all in the same orientation, which does not need to use the D-H procedure. The compact and simple form of kinematic equations, consisting of position equations and orientation equations, is also the consequence of dual quaternion calculations. The iterative process is basically of two steps which are related to solving the position equations and orientation equations correspondingly. First, assume an initial value of the iterative variable; then, the position equations can be solved because of the reduced number of unknown variables in the position equations and the orientation equations can be solved by applying the solution from the position equations, which obtains an updated value for the iterative variable; finally, repeat the procedure by using the updated iterative variable to the position equations till the prescribed accuracy is obtained. The method proposed has a clear geometric meaning, and the algorithm is simple and direct. Simulation for 100 poses of the end frame shows that the average running time of inverse kinematics calculation for each demanded pose of end-effector is 7.2 ms on an ordinary laptop, which is good enough for practical use. The iteration counts 2-4 cycles generally, which is a quick convergence. The method proposed here has been successfully used in the project of automating a hydraulic rig.
基金Project(2013CB035504) supported by the National Basic Research Program of ChinaProject(2012zzts078) supported by the Fundamental Research Funds for the Central Universities of Central South University,ChinaProject(2009ZX02038) supported by the National Science and Technology Major Project of the Ministry of Science and Technology of China
文摘An intuitive method for circle fitting is proposed. Assuming an approximate circle(CA,n) for the fitting of some scattered points, it can be imagined that every point would apply a force to CA,n, which all together form an overall effect that "draws" CA,n towards best fitting to the group of points. The basic element of the force is called circular attracting factor(CAF) which is defined as a real scalar in a radial direction of CA,n. An iterative algorithm based on this idea is proposed, and the convergence and accuracy are analyzed. The algorithm converges uniformly which is proved by the analysis of Lyapunov function, and the accuracy of the algorithm is in accord with that of geometric least squares of circle fitting. The algorithm is adopted to circle detection in grayscale images, in which the transferring to binary images is not required, and thus the algorithm is less sensitive to lightening and background noise. The main point for the adaption is the calculation of CAF which is extended in radial directions of CA,n for the whole image. All pixels would apply forces to CA,n, and the overall effect of forces would be equivalent to a force from the centroid of pixels to CA,n. The forces from would-be edge pixels would overweigh that from noisy pixels, so the following approximate circle would be of better fitting. To reduce the amount of calculation, pixels are only used in an annular area including the boundary of CA,n just in between for the calculation of CAF. Examples are given, showing the process of circle fitting of scattered points around a circle from an initial assuming circle, comparing the fitting results for scattered points from some related literature, applying the method proposed for circular edge detection in grayscale images with noise, and/or with only partial arc of a circle, and for circle detection in BGA inspection.
基金Sponsored by the Basic Research Development Program of China ( Grant No. 2013CB03554)the Fundamental Research Funds for Universities, Central South University (Grant No. 2017zzts394).
文摘Natural language processing has got great progress recently. Controlling robots with spoken natural language has become expectable. With the reliability problem of this kind of control in mind a confirmation process of natural language instruction should be included before carried out by the robot autonomously and the prototype dialog system was designed thus the standardization problem was raised for the natural and understandable language interaction. In the application background of remotely navigating a mobile robot inside a building with Chinese natural spoken language considering that as an important navigation element in instructions a place name can be expressed with different lexical terms in spoken language this paper proposes a model for substituting different alternatives of a place name with a standard one (called standardization). First a CRF (Conditional Random Fields) model is trained to label the term required be standardized then a trained word embedding model is to represent lexical terms as digital vectors. In the vector space similarity of lexical terms is defined and used to find out the most similar one to the term picked out to be standardized. Experiments show that the method proposed works well and the dialog system responses to confirm the instructions are natural and understandable.
