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Development of FPGA Based NURBS Interpolator and Motion Controller with Multiprocessor Technique

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Chinese Journal of Mechanical Engineering 2013年第5期26卷 940-947页

作者： ZHAO Huan ZHU Limin xiong zhenhua DING Han State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University

The high-speed computational performance is gained at the cost of huge hardware resource,which restricts the application of high-accuracy algorithms because of the limited hardware cost in practical *** solve the problem,a novel method for designing the field programmable gate array(FPGA)-based non-uniform rational B-spline(NURBS) interpolator and motion controller,which adopts the embedded multiprocessor technique,is proposed in this *** hardware and software design for the multiprocessor,one of which is for NURBS interpolation and the other for position servo control,is *** analysis and experiments on an X-Y table are carried out,hardware cost as well as consuming time for interpolation and motion control is compared with the existing *** experimental and comparing results indicate that,compared with the existing methods,the proposed method can reduce the hardware cost by 97.5% using higher-accuracy interpolation algorithm within the period of 0.5 ms.A method which ensures the real-time performance and interpolation accuracy,and reduces the hardware cost significantly is proposed,and it’s practical in the use of industrial application.

关键词： NURBS interpolator FPGA-based interpolation multiprocessor system on a programmable chip (SOPC) motion controller

Joint time delay and energy optimization with intelligent overclocking in edge computing

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Science China(Information Sciences) 2020年第4期63卷 154-169页

作者： Kehao WANG zhenhua xiong Lin CHEN Pan ZHOU Hyundong SHIN School of Information Engineering Wuhan University of Technology Hubei Key Laboratory of Inland Shipping Technology Wuhan University of Technology School of Data and Computer Science Sun Yat-Sen University School of Cyber Science and Engineering Huazhong University of Science and Technology Department of Electronic Engineering Kyung Hee University

With the rapid growth of user equipment(UE), the amount of data transmitted over networks has become enormous, exerting immense pressure on backbone networks and central cloud ***, corresponding applications requiring high energy consumption and low latency have multiplied the requirements for UE. Mobile edge computing(MEC) has been proposed to support the offloading of UE tasks to edge clouds for execution. The implementation of MEC requires fast data transmission between UE and edge servers, and the emerging 5G network appears to render this technology possible. In this paper,considering a large number of UE, a fixed MEC server, and an advanced intelligent network, we suggest an intelligent overclocking mechanism for the MEC server that operates for an intelligently calculated period to allow it to leverage more computing power without introducing additional hardware resources for a certain period of time. We jointly manage task offloading, server resource allocation, and overclocking to minimize the system-wide computation overhead and other risks. The proposed optimization problem is a mixedinteger nonlinear programming problem that is divided into three subproblems: offloading decision, resource allocation, and overclocking decision. We solve these subproblems using non-convex techniques and provide an iterative algorithm to obtain a heuristic solution for the original problem. Finally, simulation results show that the overclocked MEC server has lower system-wide computation overhead, faster task processing, and more offloaded UE as compared with the case without overclocking.

关键词： overclocking intelligent network mobile edge computing computation offloading resource allocation

Novel objects 3-D dense packing through robotic pushing

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Science China(Technological Sciences) 2022年第12期65卷 2942-2951页

作者： WU JianHua ZHANG HaoDong CHANG YaFei xiong zhenhua ZHU XiangYang Institute of Robotics School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China Beijing Institute of Control Engineering Beijing 100190China

Robotic picking and placing systems can increase the flexibility of packing objects in a box and are attractive in many ***,owing to inevitable uncertainties in both the picking and placing stages,the objects cannot be placed at desired positions accurately and hence cannot be packed *** paper presents an additional pushing action that maximizes the packing density;i.e.,after being released from the robot end,the object is moved by robotic pushing actions to arrange the packing *** robotic pushing strategy is determined through a deep reinforcement learning *** idea is to compress the objects toward a corner to improve the volume utilization rate by minimizing the result of a heuristic *** learning process is implemented in simulation and the trained network is transferred to a robot system *** and experiments are presented for the packing of regular and irregular objects to verify the proposed method.

关键词： robotic pushing three-dimensional packing reinforcement learning

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Nodes Effect on the Bending Performance of Laminated Bamboo Lumber Unit

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Journal of Renewable Materials 2021年第6期9卷 1143-1156页

作者： Yiwei Xuan Haitao Li Zhemin Bei zhenhua xiong Rodolfo Lorenzo Ileana Corbi Ottavia Corbi College of Civil Engineering Nanjing Forestry UniversityNanjing210037China Ganzhou Sentai Bamboo Company Ltd. Ganzhou341001China University of Melbourne Melbourne3010Australia University College London LondonWC1E 6BTUK University of Naples Federico II Naples80133Italy

This research studied the ultimate bearing capacity of laminated bamboo lumber(LBL)unit and thereby calculated the maximum bending *** load-displacement chart for all specimens was *** the flexural capacity of members with and without bamboo nodes in the middle section was *** bending experiment phenomenon of LBL unit was *** failure modes of bending components were analysed and ***,the bending behaviour of LBL units is coMPared with other bamboo and timber *** is shown that the average ultimate load of BS members is 866.1 N,the average flexural strength is 101 MPa,the average modulus of elasticity is 8.3 GPa,and the average maximum displacement is 17.02 *** average ultimate load of BNS members is 1008.1 N,the average flexural strength is 118.02 MPa,the average modulus of elasticity is 9.9 GPa,and the average maximum displacement is 18.26 *** bamboo lumber(LBL)unit without bamboo nodes(BNS)has relatively higher flexural strength coMPared with LBL unit with bamboo nodes(BS).The presence of bamboo nodes reduces the strength of the entire *** failure modes were concluded for BS members,and two failure modes were observed for BNS members during the experimental *** to a coMParison between the LBL unit and other products,the flexural strength and bending modulus of elasticity of the LBL unit are similar as bamboo scrimber and raw bamboo components,which is much higher than timber components.

关键词： Laminated Bamboo Lumber bending test flexural strength bamboo node

Friction compensation design based on state observer and adaptive law for high-accuracy positioning system

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Progress in Natural Science:Materials International 2006年第2期16卷 147-152页

作者： WANG Ying, xiong zhenhua and DING Han (School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200030, China) [a]School of Mechanical Engineering Shanghai Jiao Tong University Shangai China

Friction is one of the main factors that affect the positioning accuracy of motion system. Friction compensation based on friction model is usually adopted to eliminate the nonlinear effect of friction. This paper presents a proportional-plus-derivative (PD) feedback controller with a friction compensator based on LuGre friction model. We also design a state observer to observe the unknown state of LuGre friction model, and adopt a parameter adaptive law and off-line approximation to estimate the parameters of LuGre friction model. Comparative experiments are carried out among our proposed controller, PD controller with friction compensation based on classical friction model, and PD controller without friction compensation. Experimental results demonstrate that our proposed controller can achieve better performance, especially higher positioning accuracy.

关键词： friction compensation state observer adaptive law linear motor motion control.

Slenderness Ratio Effect on the Eccentric Compression Performance of Chamfered Laminated Bamboo Lumber Columns

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Journal of Renewable Materials 2022年第1期10卷 165-182页

作者： Ke Zhou Haitao Li Assima Dauletbek Dong Yang zhenhua xiong Rodolfo Lorenzo Kun Zhou Ileana Corbi Ottavia Corbi College of Civil Engineering Nanjing Forestry UniversityNanjing210037China Joint International Research Laboratory of Bio-Composite Building Materials and Structures Nanjing Forestry UniversityNanjing210037China Ganzhou Sentai Bamboo Company Ltd.Ganzhou341001China University College London LondonWC1E 6BTUK Guangxi Lvjing Bamboo Company Ltd. Guilin541402China University of Naples Federico II Naples80133Italy

Eccentric compression tests on 15 chamfered laminated bamboo lumber(LBL)columns with a height ranging from 600 to 3000 mm were conducted in order to study the eccentric mechanical *** failure of all specimens was caused by the crack of bamboo fiber in the tensile *** the ultimate strength was reached,except specimens with a height of 600 mm,all other specimens could bear large deformation,showing good *** lateral displacements of the specimens under eccentric compression were approximately para-bolic in the direction of column *** ultimate bending moment of LBL columns with different slenderness ratios under compression with the same initial eccentricity was a fixed *** relationship between ultimate capacity,axial displacement,lateral displacement,and slenderness ratio was analyzed based on test *** was found that the plane section assumption could be used to express the stress and strain distribution of chamfered LBL columns under eccentric compression.A method for calculating the ultimate bearing capacity was proposed using a constitutive model based on the Ramberg-Osgood relation and the empirical formula for calculating the ultimate capacity was given on the basis of the former research as well as the test results in this paper.

关键词： Laminated bamboo lumber column chamfer eccentric compression tangential

Review on Connections for Original Bamboo Structures

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Journal of Renewable Materials 2019年第8期7卷 713-730页

作者： Chaokun Hong Haitao Li Rodolfo Lorenzo Gang Wu Ileana Corbi Ottavia Corbi zhenhua xiong Dong Yang Huizhong Zhang College of Civil Engineering Nanjing Forestry UniversityNanjing210037China Southeast University Key laboratory of concrete and pre-stressed concrete structure of Ministry of EducationNanjing210096China International Collaborative Lab for Bio-composite Building Materials and Structures Nanjing Forestry UniversityNanjing210037China University College London London WC1E 6BTUK University of Naples Federico II Via Claudio 2180133 NaplesItaly Ganzhou Sentai bamboo company LTD Ganzhou341001China

Bamboo is a green construction material in line with sustainable development *** use of raw bamboo in architecture has existed since ancient *** the long development years of original bamboo buildings,many areas in the world gradually formed unique bamboo buildings,which have become an important local cultural *** building structures,joints are the key to ensure structural load *** of hollow and thin-walled material property of bamboo,the connection in raw bamboo buildings has always been a major difficulty and problem in the application of bamboo,which seriously hinders the development of original bamboo *** order to promote the use of raw bamboo,two traditional connection methods in raw bamboo structures are described in this paper firstly,with the advantages and disadvantages of the two methods pointed ***,research progress on four categories of raw bamboo building joints is described namely,bolt joints,steel member joints,filler reinforced joints and other types of *** work can provide a reference for future research and engineering applications.

关键词： Original bamboo structures joint steel members

Alkalic-type epithermal gold mineralization associated with Tongshi complex in Pinyi County, Shandong Province

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Chinese Science Bulletin 1999年第S2期44卷 236-238页

作者： xiong Xiaolin, ZHAO zhenhua and WANG Qiang Guangzhou Institute of Geochemistry, Chinese Academy of Sciences, Guangzhou 510640, China Guangzhou Institute of Geochemistry Chinese Academy of Sciences Guangzhou 510640 China

THE alkali-rich subvolcanic complex of Tongshi and the associated gold mineralization are located at thesouth boundary of Pinyi Mesozoic volcanic depression in western Shandong Province. There are morethan 30 gold deposits and mineralization locations around the complex, in which Guilaizhuang gold deposit and Zhuojiazhuang bonanza gold deposit with important economic value are included. This area isbecoming a perspective target of superlarge gold deposit. In the mine area, there crop out Archeangranitic gneisses, Paleozoic carbonates and Jurassic clastic rocks, which was intruded by Tongshi complexwith 30 km. The complex consists of K-high igneous rocks formed by two stages of magmatism. In thefirst stage, the monzonitic dioritic porphyrys, which belong to K-high calc-alkalic rocks, were formed andin the second stage, monzonitic-syenitic porphyrys, which belong to K-high alkalic rocks, were *** Ar-Ar ages are 189 Ma and 188 Ma, respectively. At the end of the second stage, a lot of theexplosive breccias were formed. The gold mineralization in this area is closely associated in time andspace with the second stage monzonitic-syenitic porphyrys. Based on the characteristics of

关键词： epithermal gold mineralization Tongshi complex Pinyi County Shandong Province.

One-way wave equation seismic prestack forward modeling with irregular surfaces

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Applied Geophysics 2006年第1期3卷 13-17页

作者： xiong Xiaojun He zhenhua Huang Deji State Key Lab. of Oil and Gas Reservoir Geology and Exploration Chengdu Universi＇ty of Technology Chengdu 610059China.

Mathematical geophone （MG） and equal-time stacking （ETS） principles are used to implement seismic prestack forward modeling with irregular surfaces using the oneway acoustic wave-equation. This method receives seismic primary reflections from the subsurface using a set of virtual MGs. The receivers can be located anywhere on an irregular observing surface. Moreover, the ETS method utilizes the one-way acoustic wave equation to easily and quickly image and extrapolate seismic reflection data. The method is illustrated using high single-noise ratio common shot gathers computed by numerical forward modeling of two simple models, one with a flat surface and one with an irregular surface, and a complex normal fault model. A prestack depth migration method for irregular surface topography was used to reoroduce the normal fault model with high accuracy.

关键词： mathematical geophone equal-time stacking principle seismic prestack forward modeling irregular surfaces and one-way wave-equation.