Calibration of encoder indexing of a redundantly actuated parallel mechanism to eliminate contradicting control forces

This paper presents the kinematic calibration of a two degree-of-freedom redundantly actuated parallel mechanism (RAPM), with the aim of eliminating contradicting control forces (CCF). The kinematic errors in the RAPM induce CCFs, especially in the case of decentralized individual position control, which is the standard control method used in industrial applications. The encoder indexing errors of the actuated joints are known to be of strong influence on the CCFs. Therefore, it is believed that the CCFs will be eliminated if the encoder indexing errors are corrected. We proved this through experiments. We performed the calibration using a projection technique, wherein we projected tracking error terms onto orthogonal complementary terms of the constraint Jacobian between the independent joints and actuated joints. Using this projection technique, the effect of tracking error terms from the joint stiffness and external force is eliminated. During the calibration process, the tracking errors in the actuated joints are measured. Using these errors, we derived the optimal values of the encoder indexing error by minimizing the objective function. We verified the calibration result by comparing the CCFs measured before calibration with those measured after calibration, for the case of individual PID position control. Our results confirmed that the calibration procedure of encoder indexing errors successfully reduces the average norm value of CCFs from 366 N to 13 N.     

基于Transformer编码器的合成语声检测系统

自动说话人认证系统是一种常用的目标说话人身份认证方案,但它在合成语声的攻击下表现出脆弱性,合成语声检测系统试图解决这一问题。该文提出了一种基于Transformer编码器的合成语声检测方法,利用自注意力机制学习输入特征内部的长期依赖关系。合成语声检测问题并不关注句子的抽象语义特征,用参数量较小的模型也能得到较好的检测性能。该文分别测试了4种常用合成语声检测特征在Transformer编码器上的表现,在国际标准的ASVspoof2019挑战赛的逻辑攻击数据集上,基于线性频率倒谱系数特征和Transformer编码器的系统等错误率与串联检测代价函数分别为3.13%和0.0708,且模型参数量仅为0.082 M,在较小参数量下得到了较好的检测性能。     

光栅码盘零位图案的CAD设计

根据增量式光学编码器对绝对零位信号的要求,建立了绝对零位光栅图案的数学模型,系统地提出了绝对零位光栅图案的设计理论,编制了计算机辅助设计程序,设计出用于工程的零位图案,并对零位图案的设计和性质及绝对零位信号进行了讨论.     

用数据融合理论减少壳体旋转低速误差的技术研究

在静电陀螺壳体旋转的数字方案中，采用数据融合技术处理光电编码器的两相输出，从而减少增量式光电编码器在低速或变向时受到的抖动干扰的影响和闭环反馈的测量误差。     

基于对故障规律统计分析的汽车备件需求预测

汽车备件的需求与汽车故障紧密相关,文章介绍了一种在对汽车故障进行统计分析并确定其分布规律的基础上预测备件需求的方法,预测中需要结合整车保有量的历史数据以及故障与备件的对应表。用统计的方法对某型客车的故障信息进行分析,认为故障的规律可用四种典型的分布进行描述。实例验证了这种方法的准确性高于传统方法,并且在计算机的辅助下可以方便操作。     

Performance enhancement using the bipolar capacity of bipolar coded fiber Bragg gratings and balanced detection in the spectral encoded code-division-multiple-access systems

This paper proposes a performance-enhanced code-division-multiple-access (CDMA) system using modified pseudorandom noise (PN) coded fiber Bragg gratings (FBGs) with a bipolar optical CDMA encoder/decoder. The data were encoded either by a unipolar signature sequence of modified PN code or by its complement, depending on whether the data bit was ‘1’ or ‘0’. Numerical simulation confirmed that bit error rate (BER) performance largely improved due to the increased decision margin at the receiver. Furthermore, at the BER of 10⁻⁹, the tolerance of spectral power distortion in the optical source appeared to be nearly twice that of conventional optical CDMA systems.     

定态双向环形气体激光中的饱和效应

从理论上分析了双向环形气体激光中的全饱和效应，导出了定态激光强度分布函数的解析形式，算出了定态双模强度的自相关和相相关函数。与激光的三次模型 实验测相比较，激光的全饱和模型与实验测量符合更，而三次模型的结果偏差较大。     

Micro-optical Characterization of Fluidic Self-assembly of Drosophila Embryos through Surface Tension: Principle, Simulation and Experiments

We describe high precision experimental and numerical characterization of the positioning forces acting on Drosophila embryos that have self-assembled onto two-dimensional arrays of hydrophobic sites on a silicon substrate in water. The forces measured using a surface micromachined optical-encoder force sensor operating in reflection, are in good agreement with numerical simulations based on an extended surface energy model for the oil-based fluidic system. The positioning forces of ellipsoidal embryos on flat pads show a linear-spring-like relationship between the force and displacement on rectangular as well as cross-shaped pads. In contrast, the positioning forces of flat silicon chips, similar in size to the embryos, are linear in the displacement only over a limited range, and are then constant up to the detachment force. The optical force characterization method and the associated surface energy model for the self-assembly process can potentially be used for design optimization of fluidic self-assembly for a wide range of applications in biology.