考虑运动受限的履带式移动机器人轨迹跟踪控制

针对履带式移动机器人的轨迹跟踪控制问题进行研究,首先,建立了履带式移动机器人的运动学模型和跟踪误差模型；其次,设计了转速有限时间控制和线速度滑模控制的轨迹跟踪控制律,并给出了考虑运动受限作用下的控制律修正表达式；最后,基于MATLAB对所提控制律进行仿真,对比分析了不考虑运动受限情况下跟踪控制效果;结果表明,设计的跟踪控制律能够实现履带式移动机器人对圆轨迹的有效跟踪,且考虑运动受限作用的控制律更加符合实际;文章研究分析了运动受限作用对于移动机器人轨迹跟踪控制的影响,分析结果对其他移动机器人的运动控制研究具有参考价值。     

环路跟踪卡尔曼滤波算法的性能分析

基于卡尔曼滤波的环路跟踪算法多是通过一定仿真证明算法性能,没有系统性性能评估,难以较好指导工程应用。在原有算法基础上进行了优化,并系统性地对比分析、评估了基于卡尔曼环路滤波算法性能,以期为算法工程化提供指导。首先提出对跟踪环路反馈调整量进行预测,使之更符合系统实际,减小环路跟踪误差。而后基于卫星信号模拟器输出信号和自生产信号源,充分评估基于卡尔曼滤波环路跟踪算法的收敛时间和灵敏度。仿真结果表明,相比目前工程常用的二阶FFL辅助三阶PLL算法,基于卡尔曼滤波环路跟踪算法能够缩短环路所需稳定时间约90%,并能提升跟踪灵敏度约5 d B,有效改善弱信号场景中接收机输出信息的完好性和连续性。     

A novel coated-particle design and fluidized-bed chemical vapor deposition preparation method for fuel-element identification in a nuclear reactor

Particle coating is an important method that can be used to expand particle-technology applications. Coated-particle design and preparation for nuclear fuel-element trajectory tracing were focused on in this paper. Particles that contain elemental cobalt were selected because of the characteristic gamma ray spectra of ⁶⁰Co. A novel particle-structure design was proposed by coating particles that contain elemental cobalt with a high-density silicon-carbide (SiC) layer. During the coating process with the high-density SiC layer, cobalt metal was formed and diffused towards the coating, so an inner SiC–Co_xSi layer was designed and obtained by fluidized-bed chemical vapor deposition coupled with in-situ chemical reaction. The coating layers were studied by X-ray diffractometry, scanning electron microscopy, and energy dispersive X-ray spectroscopy techniques. The chemical composition was also determined by inductively coupled plasma optical emission spectrometry. The novel particle design can reduce the formation of metallic cobalt and prevent cobalt diffusion in the coating process, which can maintain safety in a nuclear reactor for an extended period. The experimental results also validated that coated particles maintain their structural integrity at extremely high temperatures (∼1950 °C), which meets the requirements of next-generation nuclear reactors.     

A velocity program using the Kanade–Lucas–Tomasi feature-tracking algorithm with demonstration for pressure and electroosmosis conditions

Investigating microfluidic flow profiles is of interest in the microfluidics field for the determination of various characteristics of a lab-on-a-chip system. Microparticle tracking velocimetry uses computational methods upon recording video footage of microfluidic flow to ultimately visualize motion within a microfluidic system across all frames of a video. Current methods are computationally expensive or require extensive instrumentation. A computational method suited to microparticle tracking applications is the robust Kanade–Lucas–Tomasi (KLT) feature-tracking algorithm. This work explores a microparticle tracking velocimetry program using the KLT feature-tracking algorithm. The developed program is demonstrated using pressure-driven and EOF and compared with the respective mathematical fluid flow models. An electrostatics analysis of EOF conditions is performed in the development of the mathematical using a Poisson's Equation solver. This analysis is used to quantify the zeta potential of the electroosmotic system. Overall, the KLT feature-tracking algorithm presented in this work proved to be highly reliable and computationally efficient for investigations of pressure-driven and EOF in a microfluidic system.     

PSO-LSSVM对LIBS定量分析精度的提高

针对土壤定量分析受基体效应影响大，LIBS定量分析精度不佳等问题，采用粒子群算法对LSSVM进行优化，提高模型的精确度。选取Pb Ⅰ 405.78 nm和Cr Ⅰ 425.44 nm作为分析谱线进行分析。采集十二个不同浓度样品的特征光谱，每个浓度样品在不同点采集20组数据，将其中17组数据设为训练集，3组数据设为预测集，用LSSVM和PSO-LSSVM两种方法建立定标模型。对比两种模型的拟合相关系数（R2）、训练集均方根误差（RMSEC）和预测集均方根误差(RMSEP)。由于自吸收效应的影响，随着浓度的增加，预测值逐渐低于实际值，LSSVM定标模型的拟合程度较低，无法达到实验要求，模型性能有待提高。利用粒子群算法对LSSVM的模型参数惩罚系数和核函数参数进行优化，得到最佳的参数组合，Pb元素为(8 096.8, 138.865 7)，Cr元素为(4 908.6, 393.563 5)，用最佳的参数组合构建LSSVM的定标模型。相比于LSSVM，PSO-LSSVM定标模型的精确度更高，Pb和Cr元素的R2提高到了0.982 8和0.985 0，拟合效果明显提升。Pb和Cr元素的训练集均方根误差由0.026 0 Wt%和0.027 2 Wt%下降到0.022 4 Wt%和0.019 1 Wt%，预测集均方根误差由0.101 8 Wt%和0.078 8 Wt% 下降到0.045 8 Wt%和0.042 0 Wt%，模型的稳定性进一步提高。说明PSO-LSSVM算法能够更好地降低土壤基体效应和自吸收效应带来的影响，提高分析结果的精确度与稳定性。     

Numerical simulation of indoor suspension particles based on v-f model

This paper presents a new algorithm for the prediction of indoor suspension particle dispersion based on a v²-f model. In order to handle the near-wall turbulence anisotropy properly, which is significant in the dispersion of fine particles, the particle eddy diffusivity is calculated using different formulae among regions of the turbulent core and in the vicinity of walls. The new algorithm is validated by several cases performed in two ventilated rooms with various air distribution patterns. The simulation results reveal that v²-f nonlinear turbulence model combined with a particle convective equation gives satisfactory agreement with the experimental data. It is generally found that the dynamic equation combined with the v²-f model can properly handle low Reynolds number (LRN) flows which are usually encountered in indoor air flows and fine particle dispersion.     

Investigation of the equality constraint effect on the reduction of the rotational ambiguity in three-component system using a novel grid search method

The obtained results by soft modeling multivariate curve resolution methods often are not unique and are questionable because of rotational ambiguity. It means a range of feasible solutions equally fit experimental data and fulfill the constraints. Regarding to chemometric literature, a survey of useful constraints for the reduction of the rotational ambiguity is a big challenge for chemometrician. It is worth to study the effects of applying constraints on the reduction of rotational ambiguity, since it can help us to choose the useful constraints in order to impose in multivariate curve resolution methods for analyzing data sets. In this work, we have investigated the effect of equality constraint on decreasing of the rotational ambiguity. For calculation of all feasible solutions corresponding with known spectrum, a novel systematic grid search method based on Species-based Particle Swarm Optimization is proposed in a three-component system.     

Simulation of fine polydisperse particle condensational growth under an octadecane–nitrogen atmosphere

The evolution of particle size distribution (PSD) of fine polydisperse particles at high number concentrations (>10⁵ cm⁻³) was simulated through a combined model employing direct quadrature method of moments (DQMOM) with heat and mass transfer equations. The PSD was assumed to retain log-normal distribution during the heterogeneous condensation process. The model was first verified by exact solution and experimental data prior to investigating the influence of initial conditions on final PSD under an octadecane–nitrogen atmosphere. Low particle number concentrations and high vapor concentrations were beneficial to shift the PSD to larger particles having a narrower distribution. Additionally, vapor depletion has more influence on the final PSD than the heat release parameter for a number concentration of 10⁶ cm⁻³. This study may assist the design process of a gas–solid separating cyclone, to eliminate dust from high-temperature volatiles by pyrolysis of solid fuels.     

ELECTRO-OPTICAL DETERMINATION OF α-FeOOH PARTICLE SIZES

Electric light scattering method is used for revealing the presence of aggregates in very diluted aqueous α-FeOOH suspensions. Three theoretical models are used for the geometrical form of aggregates. The comparison between the electro-optical results -theoretical and experimental - shows that even in the most diluted suspensions exist aggregates with irregular form. Using the comparison between electron microscopy and electro-optical results the geometric shape of the aggregates is determined.     

Accelerated wear testing of polyurethane hydraulic seal

The wear characteristics of a polyurethane (PU) hydraulic seal were investigated using a hydraulic seal tester and a pin-on-plate reciprocating tribo-tester, and the results were compared to field data with the aim of developing an accelerated wear test method for hydraulic seals. Tests using a hydraulic seal tester and a pin-on-plate reciprocating tribo-tester were found to reproduce abrasive wear of PU from the field. However, a significant compression set was observed from the test using the hydraulic seal tester. Motivated by the occurrence of abrasive wear from the field, the discolored lubricant and the lubricant with alumina particles were further used for testing using the pin-on-plate reciprocating tribo-tester. The height decrease data of the sealing surface showed that the wear was accelerated by factors of 2.1–3.4 using these degraded lubricants. The outcomes of this work are expected to aid in the design of reliable accelerated life testing for hydraulic seals.