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Remote collaborative pseudo-dynamic testing system based on acquisition board control

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Progress in Natural Science:Materials International 2007年第12期17卷 1487-1493页

作者： Wang dapeng and tian Shizhu(School of Civil Engineering, Harbin Institute of Technology, Harbin 150090, China) School of Civil Engineering Harbin Institute of Technology Harbin 150090 China

In this paper, NetSLab network platform for remote collaborative pseudo-dynamic testing, which was developed recently by a research group led by the Hunan University, is presented. Aiming at MTS system which is widely used in structural testing, the control method with acquisition board was investigated in this study to realize the communication interface between NetSLab and MTS system, and open up the remote collaborative pseudo-dynamic testing system. Using the developed testing system, a collaborative pseudo-dynamic testing on LAN was carried out successfully. The result manifests that the data transmission and collaborative control can be implemented accurately between NetSLab and MTS system, so that the usability of the testing system is validated.

关键词： remote sharing of testing equipment network platform communication interface acquisition board control collaborative pseudo-dynamic testing.

Highly efficient recognition of similar objects based on ionic robotic tactile sensors

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Science Bulletin 2024年第13期69卷 2089-2098页

作者： Yongkang Kong Guanyin Cheng Mengqin Zhang Yongting Zhao Wujun Meng Xin tian Bihao Sun Fuping Yang dapeng Wei Chongqing Key Laboratory of Generic Technology and System of Service Robots Chongqing Institute of Green and Intelligent TechnologyChinese Academy of SciencesChongqing 400714China School of Computer Science and Technology Chongqing University of Posts and TelecommunicationsChongqing 400065China

Tactile sensing provides robots the ability of object recognition,fine operation,natural interaction,***,in the actual scenario,robotic tactile recognition of similar objects still faces difficulties such as low efficiency and accuracy,resulting from a lack of high-performance sensors and intelligent recognition *** this paper,a flexible sensor combining a pyramidal microstructure with a gradient conformal ionic gel coating was demonstrated,exhibiting excellent signal-to-noise ratio(48 dB),low detection limit(1 Pa),high sensitivity(92.96 kPa^(-1)),fast response time(55 ms),and outstanding stability over 15,000 compression-release ***,a Pressure-Slip Dual-Branch Convolutional Neural Network(PSNet)architecture was proposed to separately extract hardness and texture features and perform feature *** tactile experiments on different kinds of leaves,a recognition rate of 97.16%was achieved,and surpassed that of human hands recognition(72.5%).These researches showed the great potential in a broad application in bionic robots,intelligent prostheses,and precise human–computer interaction.

关键词： Tactile recognition Conformal ionic gel coating Flexible sensors Dual-branch convolutional neural network

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杨林隧道围岩支护相互作用时效性规律研究

地下空间与工程学报 2021年第S2期17卷 616-622页

作者：田大鹏中铁建云南交通建设管理有限公司

为了解决超长公路隧道软弱围岩流变效应下的变形与衬砌开裂问题,从而确定隧道合理的二次支护时间,本文推导出圆形隧道围岩与支护相互作用间的时效性规律,基于昆明绕城高速公路杨林隧道工程,对隧道软弱围岩流变明显段的拱顶下沉和周边位... 详细信息

为了解决超长公路隧道软弱围岩流变效应下的变形与衬砌开裂问题,从而确定隧道合理的二次支护时间,本文推导出圆形隧道围岩与支护相互作用间的时效性规律,基于昆明绕城高速公路杨林隧道工程,对隧道软弱围岩流变明显段的拱顶下沉和周边位移监测结果进行分析,发现拱顶下沉和周边位移最大值出现位置与隧道支护变形开裂位置一致,推导围岩变形计算公式,利用现场监测拱顶下沉数据,得到变形公式中的系数,并最终确定了二次支护合理时间为隧道上台阶开挖后的40 d左右,也就是下台阶开挖后的15 d左右。本文成果对现场施工安全有重要意义,对类似工程有很好的参考价值。

关键词：隧道工程围岩流变拱顶下沉周边位移现场监测

Bilateral Control with Disturbance Observer and Adaptive Neural Network Compensation

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Bilateral Control with Disturbance Observer and Adaptive Neu...

航空光学成像气动光学传输效应计算研究综述(特邀)

第三十九届中国控制会议

作者： Jing Wen dapeng tian Key Laboratory of Airborne Optical Imaging and Measurement Changchun Institute of OpticsFine Mechanics and Physics Chinese Academy of Science University of Chinese Academy of Sciences

The bilateral control system realizes the position tracking and force transmission between a master robot and a slave one. However, it is a problem to improve the performance of a bialteral control system. In order to further compensate the equivalent disturbance and improve the synchronization performance between the master and slave robots, a four-channel bilateral control system with adaptive neural network is proposed. The proposal is to add a radial basis function（RBF） neural network（NN） to the position control channel to further compensate the deviation between the controlled robots and the *** stability of the controller is analyzed. Simulation verifies the effectiveness of the proposal.

关键词： PD position controller adaptive neural network compensation disturbance observer four-channel bilateral control

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红外与激光工程 2022年第12期51卷 10-24页

作者：贾平陈健田大鹏中国科学院长春光学精密机械与物理研究所航空光学成像与测量重点实验室吉林长春130033 中国科学院大学北京100049

随着更高的需求和科技发展推动航空飞行器工作速度的提高,航空光学成像的机动、灵活等特点显现更加突出,但实现高质量、高分辨率成像的技术难度也极具挑战性。飞行器与高速气流之间的复杂作用产生气动光学效应,光波或光束经过复杂流场... 详细信息

随着更高的需求和科技发展推动航空飞行器工作速度的提高,航空光学成像的机动、灵活等特点显现更加突出,但实现高质量、高分辨率成像的技术难度也极具挑战性。飞行器与高速气流之间的复杂作用产生气动光学效应,光波或光束经过复杂流场与光学窗口时受到强干扰,为此吸引了众多科学家开展多学科交叉融合的相关研究工作,取得了大量的研究成果,为试验测试和工程实践提供了有力支撑。文中从气动光学流场与光学窗口两方面的计算研究入手,详细综述了气动光学传输效应的研究进展,归纳总结了相应的计算方法,综合当前技术发展趋势给出航空光学成像气动光学传输效应计算研究的思考和建议。

关键词：气动光学效应计算流体力学多场耦合光学传输数值计算

Nonlinear Tracking Differentiator Based on Feedforward and Arctangent Function

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Nonlinear Tracking Differentiator Based on Feedforward and A...

航空光电侦察平台内藏式扫描系统像旋分析及补偿

第三十九届中国控制会议

作者： Yawen Kong dapeng tian Jihong Xiu Xin Che Key Laboratory of Airborne Optical Imaging and Measurement Changchun Institute of Optics Fine Mechanics and Physics Chinese Academy of Sciences University of Chinese Academy of Sciences

Nonlinear tracking differentiator（NTD） extracts the filtered continuous signals and differential signals from any noisy signals. Therefore, it is often used in several fields especially in high-precision motion control. In order to improve the tracking characteristics of NTD, this paper presents a design based on the arctangent function and feedforward. The arctangent function has the property of approximate saturation function and feedforward effectively solves the problem of phase lag that is common in differentiators. According to the simulation analysis of the proposal, it can be concluded that its tracking speed, differential characteristics and filtering ability are obviously improved.

关键词： Nonlinear tracking differentiator arctangent function feedforward phase lag frequency characteristics

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光学学报 2017年第9期37卷 59-67页

作者：王平田大鹏徐宁徐迪孟中国科学院长春光学精密机械与物理研究所吉林长春130033 中国科学院航空光学成像与测量重点实验室吉林长春130033

为了解决传统光电侦察平台外露球形结构增大飞机雷达散射截面的问题,提出一种采取双反射镜绕俯仰轴和方位轴旋转实现大角度扫描的方法,该扫描方式的外露尺寸小,可与载机进行共形设计以保证飞机隐身性能。基于光反射矢量理论,对扫描系统... 详细信息

为了解决传统光电侦察平台外露球形结构增大飞机雷达散射截面的问题,提出一种采取双反射镜绕俯仰轴和方位轴旋转实现大角度扫描的方法,该扫描方式的外露尺寸小,可与载机进行共形设计以保证飞机隐身性能。基于光反射矢量理论,对扫描系统成像特性进行了研究,对双反射镜绕俯仰轴和方位轴旋转所产生的像旋进行了定量分析,得出了像旋角大小和方向与双反射镜旋转角度和方向的确切关系,并以此作为像旋补偿的理论依据,提出一种通过控制消旋棱镜消除像旋的双向控制方法,实现扫描镜与消旋机构的严格协同运动。通过成像实验进行了验证,消除了所产生的像旋,计算可得消旋精度均方根值小于8′,实现了较高精度光学消像旋。

关键词：几何光学像旋补偿内藏式扫描系统隐身性能

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四通道遥操作机器人的系统化设计研究

电子测量技术 2022年第13期45卷 1-6页

作者：温静田大鹏中国科学院航空光学成像与测量重点实验室长春130033 中国科学院长春光学精密机械与物理研究所长春130033 中国科学院大学北京100049

现有基于干扰观测器(DOB)的四通道双向控制遥操作系统能够不依赖力传感器实现一定的透明性。然而目前主/从控制器的设计多基于累试法,缺少一种系统化的设计方法,并且受到DOB工作带宽的限制,透明性难以得到提升。提出一种基于鲁棒控制理... 详细信息

现有基于干扰观测器(DOB)的四通道双向控制遥操作系统能够不依赖力传感器实现一定的透明性。然而目前主/从控制器的设计多基于累试法,缺少一种系统化的设计方法,并且受到DOB工作带宽的限制,透明性难以得到提升。提出一种基于鲁棒控制理论的系统化设计控制器方法。通过求取主/从机器人之间位置响应误差和干扰残差的动力学方程,将遥操作四通道双向控制转化为两个一般反馈控制系统,基于H_(∞)控制理论选取合适的权函数实现系统化的控制器综合。新方法给出了在无力传感器条件下实现主/从机器人力反馈双向控制的一种一般方法。实验表明,系统化方法设计出的控制器能够保障系统的稳定性和透明性,实现了两个电机位置的互相跟踪和作用力的传递,并且与传统基于PD控制设计的四通道双向控制相比对系统中的干扰和模型不确定性有更强的鲁棒性。

关键词： H_(∞)控制理论系统化设计控制器遥操作双向控制四通道控制结构

Tracing Sources of Geochemical Anomalies in a Deeply Buried Volcanic-Related Hydrothermal Uranium Deposit:the Daguanchang Deposit,Northern Hebei Province,North China Craton

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Journal of Earth Science 2024年第4期35卷 1186-1195页

作者： Yangyang Zhang Yuelong Chen dapeng Li Huan Kang Mingliang Fang Yunliang Xu School of Earth Science and Resources China University of GeosciencesBeijing100083China State Key Laboratory of Earthquake Dynamics Institute of GeologyChina Earthquake AdministrationBeijing100083China Jinchuan Group Company Limited Jinchang737104China China-Explo tian Cheng(Beijing)Technology Company Limited Beijing100093China

Radon(Rn)and helium(He)gases from uranium decay form distinct anomalies related to buried uranium *** order to trace the geochemical anomalous sources from the volcanic-related uranium deposits in deeply buried areas,systematical Rn contents and He isotope ratios were analyzed from the Daguanchang uranium *** soil gas Rn concentrations above the deep uranium are ten times higher than those in barren areas,indicating that instantaneous Rn content measurements can be used to detect deeply buried *** helium isotope ratios(^(3)He/^(4)He)of the unmineralized samples from the mineralized drill hole(ZK1)are relatively lower and uniform compared to those of the samples from no-mineral drill hole(ZK2).However,the Th and U contents of the drill core samples from ZK1 are slightly lower than those of the samples from ZK2,indicating that the lower 3He/4He ratios in ZK1 are most likely due to the addition of 4He from underlying uranium *** differences in the instantaneous Rn contents are consistent with the variations in the He isotope ratios of the drill core *** results demonstrate that soil gas Rn and ^(3)He/^(4)He ratios are useful tracers and can indicate the existence of deeply buried volcanic-related hydrothermal uranium ores.

关键词： tracers radon helium ^(3)He/^(4)He ratio uranium deposits Daguanchang deposit