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Chinese Journal of Mechanical Engineering 2003年第2期16卷 167-170页

作者： Cui ChangcaiChe RenshengYe DongHuang Qingchengdepartment of Automatic measurement and control,Harbin Institute of Technology, Harbin 150001, China department of Automatic measurement and control Harbin Institute of Technology Harbin 150001 China

A genetic algorithm (GA)-based method is proposed to solve the nonlinearoptimization problem of minimum zone cylindricity evaluation. First, the background of the problemis introduced. Then the mathematical model and the fitness function are derived from themathematical definition of dimensioning and tolerancing principles. Thirdly with the least squaressolution as the initial values, the whole implementation process of the algorithm is realized inwhich some key techniques, for example, variables representing, population initializing and suchbasic operations as selection, crossover and mutation, are discussed in detail. Finally, examplesare quoted to verify the proposed algorithm. The computation results indicate that the GA-basedoptimization method performs well on cylindricity evaluation. The outstanding advantages concludehigh accuracy, high efficiency and capabilities of solving complicated nonlinear and large spaceproblems.

关键词： genetic algorithm (GA) cylindricity form error minimum zone

NONLINEAR MODELING AND controlLING OF ARTIFICIAL MUSCLE SYSTEM USING NEURAL NETWORKS

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Chinese Journal of Mechanical Engineering 2004年第2期17卷 306-310页

作者： Tian Sheping Ding Guoqing Yan Detian Lin Liangming department of Information measurement and Instrumentation,Shanghai Jiaotong University,Shanghai 200030, China department of Information measurement and Instrumentation Shanghai Jiaotong University 上海 200030

The pneumatic artificial muscles are widely used in the fields of medicalrobots, etc. Neural networks are applied to modeling and controlling of artificial muscle system. Asingle-joint artificial muscle test system is designed. The recursive prediction error (RPE)algorithm which yields faster convergence than back propagation (BP) algorithm is applied to trainthe neural networks. The realization of RPE algorithm is given. The difference of modeling ofartificial muscles using neural networks with different input nodes and different hidden layer nodesis discussed. On this basis the nonlinear control scheme using neural networks for artificialmuscle system has been introduced. The experimental results show that the nonlinear control schemeyields faster response and higher control accuracy than the traditional linear control scheme.

关键词： Artificial muscle Neural networks Recursive prediction error algorithm Nonlinear modeling and controlling

Orthogonal linear polarized lasers (Ⅲ)——Applications in self-sensing

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Progress in Natural Science:Materials International 2005年第11期15卷 961-971页

作者： ZHANG Shulian, DU Wenhua and LIU Gang (The State Key Laboratory of Precision measurement Technology and Instruments, department of Precision Instruments, Tsinghua University, Beijing 100084, China) The State Key Laboratory of Precision measurement Technology and Instruments Department of Precision Instruments Tsinghua University Beijing 100084 China

In this paper, the applications of orthogonal linear polarized lasers in self-sensing are reviewed. The properties for such a laser include the production of a new frequency in one longitudinal mode spacing, the tuning of frequency difference, the change of polarization states as cavity tuning, the control of mode competition intensity, the optical feedback, and so on. The orthogonal polarized lasers have been used as a laser nanometer ruler based on competition between two polarized lights in a HeNe laser and as a displacement measurement tool based on the optical feedback in the orthogonal polarized lasers. They are also used in the phase retardation measurement of a waveplate, the angle measurement, the vibration measurement, the pressure/force measurement, the weak magnetic field measurement, and so on. The structures of these new devices are simple and compact with the great advantages of high resolution and high accuracy. Some of these devices can trace to the source of the laser wavelength. The nanometer laser ruler is an example whose measurement range is 12 mm, resolution is 79 nm and linearity is less than 5×10-5. The repeatability of the phase retardation measuring system of waveplate can reach 3’.

关键词： orthogonal polarized laser frequency splitting optical feedback vibration measurement displacement measurement waveplate measurement angle measurement.

Feasibility Analysis of Accelerometer Configuration of Non-gyro Micro Inertial measurement Unit

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Feasibility Analysis of Accelerometer Configuration of Non-g...

CES/IEEE 5th International Power Electronics and Motion control Conference

作者： DING Mingli ZHOU Qingdong WANG Qi and WANG Changhong department. of Automatic Test and control Harbin Institute of Technology Harbin China department. of control Science and Engineering Harbin Institute of Technology Harbin China department of Automatic Test and control Harbin Institute of Technology Harbin China department of control Science and Engineering Harbin Institute of Technology Harbin China

ISBN: (纸本)1424404487;9781424404483

＜正＞A sufficient condition is given to determine if a configuration of accelerometers of non-gyro micro inertial measurement unit （NGMIMU） is feasible. NGMIMU uses only accelerometers to compute the motion of a moving body. If the condition is satisfied, the angular acceleration and the linear acceleration in three directions can be expressed by the linear combination of the angular velocity and the accelerometer output. And the posture of a moving body can be estimated using a numerical iteration algorithm. Two configurations of accelerometers are analyzed in detail and the results verify the correctness of the condition. This research serves as an important criterion for the research of other problems of NGMIMU.

关键词： measurement Unti Accelerometer Feasibility Configuration

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3D Watermarking

3D Watermarking

第三届国际仪器科学技术学术研讨会

作者： LIU Wang SUN Sheng-he department of Automatic measurement and control Harbin Institute of Technology Harbin 150001 China

Digital watermarking can be used to protect the copyright of digital products and data. Due to its potentially wide applications in digital content protection, digital watermarking has received much a

关键词： 3D model digital watermarking 3D watermarking copyright protection

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线性调频信号的时域加权技术

指挥技术学院学报 1994年第1期5卷 21-29页

作者：周辉指挥技术学院测量控制系

本文针对线性调频信号的时域加权问题，做了大量的计算机模拟，并对各类数据加以汇总和分析。在分析典型窗函数的基础上，笔者提出了一种适合于线性调频信号加权的新型窗函数──梯形窗函数。

关键词：时域加权线性调频信号滤波器

An unsupervised grid-based approach for clustering analysis

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Science China(Information Sciences) 2010年第7期53卷 1345-1357页

作者： YUE ShiHong1, WANG JeenShing2, TAO Gao1 & WANG HuaXiang1 1School of Electrical Engineering and Automation, Tianjin Key Laboratory of Process measurement and control, Tianjin University, Tianjin 300072, China 2department of Electrical Engineering, National Cheng Kung University, Tainan 701, China 1. School of Electrical Engineering and Automation Tianjin Key Laboratory of Process Measurement and Control Tianjin University Tianjin 300072 China2. Department of Electrical Engineering National Cheng Kung University Tainan 701 China

In recent years, the growing volume of data in numerous clustering tasks has greatly boosted the existing clustering algorithms in dealing with very large datasets. The K-means has been one of the most popular clustering algorithms because of its simplicity and easiness in application, but its effciency and effectiveness for large datasets are often unacceptable. In contrast to the K-means algorithm, most existing grid-clustering algorithms have linear time and space complexities and thus can perform well for large datasets. In this paper, we propose a grid-based partitional algorithm to overcome the drawbacks of the K-means clustering algorithm. This new algorithm is based on two major concepts: 1) maximizing the average density of a group of grids instead of minimizing the minimal square error which is applied in the K-means algorithm, and 2) using grid- clustering algorithms to thoroughly reformulate the object-driven assigning in the K-means algorithm into a new grid-driven assigning. Consequently, our proposed algorithm obtains an average speed-up about 10-100 times faster and produces better partitions than those by the K-means algorithm. Also, compared with the K-means algorithm, our proposed algorithm has ability to partition any dataset when the number of clusters is unknown. The effectiveness of our proposed algorithm has been demonstrated through successfully clustering datasets with different features in comparison with the other three typical clustering algorithms besides the K-means algorithm.

关键词： clustering grid-based algorithm K-means algorithm

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航空点火器开关电源建模及仿真

系统仿真学报 2008年第18期20卷 4991-4993,4997页

作者：宋康高中有廖俊必四川大学测试技术与控制工程系四川成都610065

航空点火器的点火能量是飞机发动机可靠启动的一个重要参数。影响点火能量的因素比较多,其中高效率地提高储能电容的充电电压是有效途径之一。在点火器中,对储能电容的充电电压就是点火器电路中的开关电源模块的输出电压。对开关电源模... 详细信息

航空点火器的点火能量是飞机发动机可靠启动的一个重要参数。影响点火能量的因素比较多,其中高效率地提高储能电容的充电电压是有效途径之一。在点火器中,对储能电容的充电电压就是点火器电路中的开关电源模块的输出电压。对开关电源模块建立了数学模型,详细推导出了输入电压ui以及开关电源模块各元器件参数同输出电压uo的数学表达式,并通过巧妙的数学变换,得出了输出电压uo在一定条件下,主要由输入电压ui、负载RL、三极管集电极峰值电流ICM来确定,增大uo、RL、ICM能有效增大输出电压uo这一重要结论。该结论为有效提高点火器放电能量打下了坚实的基础。最后利用电路仿真软件PSpice进行了仿真验证,仿真结果表明上述结论是正确可行的。

关键词：航空点火器开关电源数学模型仿真

Composite Nonlinear Bilateral control for Teleoperation Systems With External Disturbances

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IEEE/CAA Journal of Automatica Sinica 2019年第5期6卷 1220-1229页

作者： Zhenhua Zhao Jun Yang Shihua Li Wen-Hua Chen the College of Automation Engineering Nanjing University of Aeronautics and AstronauticsNanjing 210016China the School of Automation Southeast UniversityKey Laboratory of Measurement and Control of School of Computer Science and Engineering (CSE)Ministry of EducationNanjing 210096China the department of Aeronautical and Automotive Engineering Loughborough UniversityLoughboroughLE11 3TUUK

This paper presents a new composite nonlinear bilateral control method based on the nonlinear disturbance observer(NDOB) for teleoperation systems with external disturbances. By introducing the estimations of NDOB and systems' nominal nonlinear dynamics into controller design, a NDOB based composite nonlinear bilateral controller is constructed to attenuate the influence of disturbance and uncertain nonlinearities. As compared with the existing bilateral control methods which usually achieve force haptic(i.e., contact force tracking)through a passive way, the newly proposed method has two major merits: 1) asymptotical convergence of both position and force tracking errors is guaranteed;2) disturbance influence on force tracking error dynamics is rejected through the direct feedforward compensation of disturbance estimation. Simulations on a nonlinear teleoperation system are carried out and the results validate the effectiveness of the proposed controller.

关键词： Bilateral control disturbance observer force haptic teleoperation