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Table of Content

    10 February 2010, Volume 21 Issue 03
    Dynamics and Control of Robot with Active and Passive Joints Using Lie Groups and Lie Algebras
    SHAO Bing, TUN Hong-Chao, CHENG Shi-Li, SHU Shui-Jiang
    2010, 21(03):  253-257. 
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    Lie groups and Lie algebras were used to study the dynamics and control of robot system with active and passive joints. The inverse dynamics were described with Lie groups and Lie algebras. Then the Newton-Euler method and articulated body method were combined together to handle with the problems of the robot dynamics with active and passive joints. The computed torque control law was used to simulate with the results of dynamics. Compared with the simulation results of PID control law, the computed torque control law has better performance. 
    Hydraulic-mechanical Coupling Model and Load Characteristic Analysis of Shield Thrust System with Redundant Drive
    DING Cheng, TU Hai-Dong, WANG Hao
    2010, 21(03):  258-262,309. 
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    First, a dynamics model of mechanical structure considering redundant drive of a shield tunneling machane was presented, then a simplified model of single group hydraulic system was built, further a hydraulic-mechanical coupling model of the whole thrust system was established, and a method based on the relationship between external load and pressure relief valve opening was adopted to judge system state. To analyze the characteristics of thrust cylinder groups under extreme load, numerical simulation was run in MATLAB/Simulink environment. Results show that this method judges the thrust system effectively and is dependable basis for drive distribution control when shield tunneling machine thrust in heterogeneous soil.  
    Research on Multi-Contradictions Problem Solving in Product Design
    HUI Zi-Hui, SHAN Run-Hua
    2010, 21(03):  263-267. 
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    DOT for multi-contradiction problem analyzing was put forward on the basis of current reality tree (CRT) and fault tree analysis (FTA). Multi-contradiction solving process model using DOT and TRIZ was constructed. DOT was used to identify key problem in this model. The validity and efficiency of this method was illustrated in pill package machine improved design. 
    Design of Underwater Pipeline Tapping Machine
    YU Chong-Shan, ZHANG Hong, DIAO Hong-Lin, YU Kai-An, FANG Xiao-Meng
    2010, 21(03):  268-270. 
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    An underwater pipeline tapping machine was successfully developed. The systematic composition, main technical parameters, driving principle and technical solution of the tapping machine were described. The underwater pipeline tapping machine meets working needs by introducing such design as using hydraulic system as power source, putting transmission box to the bottom of machine, setting safety clutch in feeding system, having fast translation function of the spindle, detecting the spindle translation with differential, using dial to display and seting feed depth. By underwater tapping tests, the tapping machine works normally and reaches the target of design.
    Analysis of Crossing Obstacle Capability of Planet Exploration Rover with Rocker-bogie Structure
    HONG Li-Fang, TU Xiao-Liu, HONG Yong-Meng, GAO Wen-Bin, WANG Hong-Guang, WANG Huo-Chao
    2010, 21(03):  271-274,279. 
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    Taking a 6-wheel moving system of rocker-bogie structure as the subject for quasi-static force analysis, the crossing obstacle capability analysis of exploration rover was done through the method of finding the wheels' friction solution space region. The single side forward obstacle across capability simulation results show that when giving the same obstacle heights and the angles between wheels and ground, the rear wheel have the best obstacle capability, the middle one is the worst, and the front is moderate. 
    A Neutron Monochromator Shielding Assembly with Continuously Variable Take-off Angle
    GAO Jian-Bei, LI Jun-Hong, LI Ji-Zhou, LIU Wen-Tao, CHEN Dong-Feng
    2010, 21(03):  275-279. 
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    For the application of neutron scattering spectrometer and the protection of reactor radiation, a neutron monochromator shielding assembly with continuously variable take-off angle was designed and fabricated, using a special electromagnetic localizer and computer automatization technique. The take-off angle is able to change from 40° to 110° owing to the special rotating system. Meanwhile, the radiation around the monochromator is shielded, and the experimental background and radiation damage to people is decreased.
    Analysis on Various Factors of Rupture during Square Plansifter Operation
    QIU Meng, LIAO Zhen-Jiang, JIAO Wei-Dong, FAN Li-Xia
    2010, 21(03):  280-285. 
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    The rupture and its several influence factors on the short crossbeam of sieve case during square plansifter operation were investigated. Aimed at the system consisting of a square plansifter and some suspenders, the FEM was employed to establish structural dynamics model for obtaining dynamic response. According to the contrast of the vibration data of sieve body in experiments and the displacement response from FEA,the finite element model was modified. Results show that the position where the maximum stress happens in FEA and the actual rupture position are the same. Furthermore, the effects of various parameters including mass, rotational speed and offsetting of eccentric object, rectangle-section size and thickness of short crossbeam, the level and vertical pressing force on stresses of three dangerous positions were calculated and analyzed. The results presented herein possess an important reference value to structural improvement and dynamic optimization of square plansifter.
    Finite Element Analysis of Magnetic Field in Magnetic Powder Clamping System
    TANG Jian-Ning, ZHOU Yan-Fei
    2010, 21(03):  285-288. 
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    With regard to parts which were not clamped with common platen, a design of clamping workpiece by magnetic powder was presented. Magnetic field in magnetic powder clamping system was 2D modeled through FEM, and the distribution of magnetic field and effects of different magnetic powder parameters were qualitatively studied. The system's magnetic field model and calculation were verified with measurements. Results show that majorities of magnetic lines form closed circuit thought magnetic powder. Magnetic induction value decreases with the increase of height and increases with the increase of length with same input currents. It is significative to use this conclusion in reasonable selection of magnetic powder parameters. 
    Fault Diagnosis and Treatment for AMB Digital Controller
    JI Li, XU Long-Xiang, TANG Wen-Bin
    2010, 21(03):  289-295. 
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    The reliability of AMB digital controller was studied herein. According to the characteristics and structure of AMB digital controller, it was divided into three parts, named DSP chip, signal input channels and signal output channels respectively. The possible fault type of each part was analyzed. Aiming at each fault type, this paper developed a high-reliability AMB digital controller in which the TI’s floating-point DSP chip TMS320VC33 severed as the core. Experiments that used to verify reliability of controller on the five degrees of freedom magnetic bearing system were done. In the experiments, when rotor is at the speed of 30 000r/min, the controller can diagnose the faults and switches to the reserve DSP in 100μs which is quick enough to guarantee the stabilization of the whole system after the main DSP chip is manually reset. Similarly, the rotor states stay the same after any of those input-output channels are cut off at the same high speed, the controller can quickly determine the failed channels and switch to the backup channels in 20μs.
    Study on Production Shop Floor Hybrid Control Architecture Model and Coordination Mechanism
    WANG Shi-Jin, DUAN Yong-Rui
    2010, 21(03):  296-302. 
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    In order to improve the flexibility, openness and global optimization of shop floor control system, an agent-based adaptive architecture for shop floor control system was presented based on the comprehensive analyses of existing shop floor control architectures. The proposed architecture was hybrid: the control function was designed in hierarchical of system optimal Agent, cell coordination Agent and individual Agent, meanwhile, horizontal as well as vertical decisions were allowed to make between various levels of Agents to further improve flexibility. In order to further improve efficiency and effectiveness of coordination among Agents, a new coordination mechanism combined with bidding and instance-based learning approach was designed. The core algorithms of the coordination mechanism, including time-constraint algorithm and instance-based learning approach, were analyzed in detail. Finally, a prototype simulation system was constructed in JADE environment.
    An Effective Cultural Genetic Algorithm for Job Shop Scheduling Problem
    WANG Wei-Ling, LI Tie-Ke, SHI Can-Chao
    2010, 21(03):  303-309. 
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    Aiming at the disadvantages of traditional genetic algorithms that are lack of efficient guidance and easy to get into local extremum, this paper developed a double evolution frame population space and belief space to solve job shop scheduling problem. CGA was to extract the excellent individuals' schema of the scheduling solution from the population space of genetic algorithm as the useful knowledge to form belief space. And the belief space was utilized to guide the genetic operator of selection and mutation by two different ways respectively in order to make use of the characteristics of excellent individuals. k-nearest neighbor method was introduced to do dynamic learning in selection operator,and do neighbor search mutation in mutation operator at an appropriate position. The different sizes of the benchmark data taken from literature were used to analyze the efficiency of this algorithm. Experimental results indicate that it outperforms current approaches in computational time and quality of the solutions.
    Study on Simulation and Test for Dynamic Characteristics of High Flow Electro-hydraulic Directional Control Valve
    GAO Cheng-Guo, LIN Mu-Xi
    2010, 21(03):  310-313. 
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    The deformation failure under repeated impact load is common in the process of working for high flow electro-hydraulic directional control valve. On the basis of the structural and performance analyses of a electro-hydraulic directional control valve, a mathematical model for three way/two position electro-hydraulic operated directional valve was established. By combining simulation and experimentations,the dynamic responding characteristics of high flow electro-hydraulic directional control valve were analyzed. The energy method was used for getting the impact load. The effective method is provided for the study of deformation failure of high flow electro-hydraulic directional control valve due to the repeated impact load.
    Research on Radar Seeker Product Functional Module Plotting Method Based on Improved Clustering Analysis
    MAO Yu-Hui
    2010, 21(03):  314-319. 
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    This paper specified the serialization of winged missile radar seeker products and the requirements of quick design. And the modularization design of seeker products is an important way to realize the requirements. It introduced an improved clustering algorithm, which realized the seeker product functional module plotting. This algorithm combined the k-average algorithm of plotting methods with the actual process of seeker design, then carried out updating, and produced the k-minimization distance algorithm. It also introduced the dissimilarity evaluation rules of radar seeker product functional modules. At last, it validated the correctness and practicability of the algorithm by a sample, which was the target tracking module of a radar seeker.
    Multi-source Information Integrated Technology of Workshop Based on EPC Criterion
    WANG Dong-Jiang, YAN Ping, LIU Fei, LIN Fan
    2010, 21(03):  319-324,377. 
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    The architecture of multi-source information integrated system model based on EPC criterion was established,which can carry out equipment data, human resources and production logistics information interaction between shop - floor equipment and top - level application systems. The method using multi-source information integrated system model to integrate multi-source information into enterprise interior and exterior systems was discussed, the multi-source information data format and the interactive mode design were introduced.The case study shows that the system model has great prospects in improving the response ability, implementing networked manufacturing, and deepening of building digital enterprises.
    Research on 3DLSA for Evaluating Spatial Straightness Errors
    HU Zhong-Xun, YANG Xu-Jing, JIN Xiang-Zhong
    2010, 21(03):  325-329. 
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    With the geometry, theory of errors and optimization principle used and the related national standard referred, a novel 3DLSA for evaluating the spatial straightness errors was proposed, so as to evaluate the spatial straightness errors effectively and to gain the error values with higher accuracy. Then,a mathematical model of the 3DLSA was deduced, true three-dimensional fitting of the spatial line was theoretically carried out. Finally, the 3DLSA was programmed, and the corresponding numerical experiments were done. The experimental results show that compared with the existed algorithms such as the algorithm of two endpoints linked-line, the least squares method(LSM)and other algorithms in evaluation of the spatial straightness errors, the 3DLSA is more effective and has better robustness and higher accuracy. 
    Fuzzy Adaptive Compensation Control for Space-based Robot System with Dual-arm Based on Gaussian-type Function to Track Trajectory in Joint Space
    LIANG Cha, CHEN Li
    2010, 21(03):  330-336. 
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    This paper discussed control problem of dual-arms space-based robot system with unknown payload parameters to track desired trajectory in joint space, when the attitude of base was controlled and its location was uncontrolled. Combining the relationship of the linear momentum conversation and the Lagrange approach, the full-controlled dynamic equation of space-based robot system with dual-arms were analysed and established. Based on the above results, for the case of dual-arms space-based robot system with unknown payload parameters, a composite control scheme was designed by a computed torque controller and a fuzzy compensator to track desired trajectories in joint space, i.e., balancing the effect of system unknown payload parameters on computed torque controller with fuzzy adaptive compensator, in order to ensure the whole closed-loop control system asymptotic stability with the existence of unknown payload parameters. The mentioned control scheme can effectively overcome the effect of system unknown payload parameters and control both the base attitude and the joints of dual-arms space-based robot, so that they can track the desired trajectory in joint space, with obvious advantages neither the mentioned control scheme needs to measure and feedback the position, velocity and acceleration of the floating base, nor the mentioned control scheme needs to require for dynamic equations of the system inertial parameters in linear function. The simulation results show that the proposed control scheme is feasible and effective.
    Study on Quasi-LIGA Molding Technology Drag Reduction Experiment of Riblet Surface
    HU Hai-Bao, HUANG Qiao-Gao, JIANG Xiong, SONG Bao-Wei, BO Guang
    2010, 21(03):  336-339. 
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    In order to study drag reduction characteristics of riblet surface, two kind of different size’s rible surface were manufactured on aluminum alloy using quasi-LIGA molding technology. This technology used the ultraviolet radiation as an exposal source, then throught develop, surface activation, micro-electroform and wiping photoresist riblet surface was obtained. Riblet surface’ flow field were tested separately in low speed wind tunnel and distribution of turbulent boundary layer flow parameters was obtained. Experimental results show that riblet surface changes field flow structure of boundary layer, restrains turbulent variance, debases turbulence intensity, brings on drag reduction effect and preparation of riblet surface using quasi-LIGA technology is feasible.
    Experimental Research on Finer-grain Electroformed Nickel Shaped Charge Liner
    LEI Wei-Ning, SHU Ceng-Wei, DAO Gang
    2010, 21(03):  340-343. 
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    The liner of electroforming nickel is the key part of the new pattern shaped charge, and the current distribution was analyzed in its electroforming process. The high purity,finer-grain electroformed nickel shaped charge liner was produced by high frequency pulse current , cathode rotation and the other technical methods such as conformal anode, cathode local shielding and removing gas bubbles. The liner microstructure evolution and its properties were examined and discussed by X-ray and other testers. It is found that the purity of nickel is more than 999%, the electroforming layer is dense and its grain sizes are less than 100nm, which has strong crystal orientation texture. Moreover, the liner tip velocity is above 10km/s, and its jet has good properties of continuity and uniformity which may result in sufficient improvement of armor penetration performance.
    Study on Sliding Wear of High Pair Based on Friction Work Principles
    ZHANG Yi-Cheng, TIAN Gong-Qi, TANG Jin-Yuan, LI Wei, LIN Yang-Hao, CHEN An
    2010, 21(03):  344-347. 
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    Aiming at the problem that the existing wear calculation formula cannot completely embody wear mechanism, based on friction wear work principles, a wear calculation formula of high pair was developed. Also, a simulation computation of gear pair was completed after the dynamic stiffness of gear pair was taken into consideration, which influenced the load distribution between teeth. The simulation results go with the practical wear of gear. The study indicates that the wear calculation formula ,as a new approach to calculate sliding friction wear of friction pair, originates from suitable principle, and can be employed availablely. It provides users a credible method to evalueate wear state of high pair with complex surface such as gear pairs and cam pairs.
    Amplitude-frequency Characteristics of Nonlinear Electromagnetic Vibration in a Hydro-generator Rotor
    XU Jin-You, LIU Jian-Beng, SONG Die-Min, WANG Shi-Yu
    2010, 21(03):  348-351. 
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    The influence of the nonlinear electromagnetic forces and mass eccentric forces on the dynamic characteristics of the hydro-generator rotor was analyzed. The electromechanical coupling vibration model of the system was established, in which the nonlinear electromagnetic force of eccentricity rotor was obtained by using analytical method. This model was simplified to a single degree-of-freedom system by means of complex variable function. The stationary solution of system was solved by harmonic balance method, and the amplitude-frequency response was presented. The results show that electromagnetic vibration of hydropower generator rotors exhibits nonlinear characteristics, including the jumping phenomenon of amplitude-frequency curve and the obvious soft characteristics.
    Experimental Investigation on the Inelastic Recovery Behavior of High Strength Sheet Steels
    TU Hai-Yan, GAO Yun-Kai
    2010, 21(03):  351-354. 
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    By the tensile testing under different plastic strains, the composition of the inelastic strain recovery of TRIP600 and H220BD steel during unloading and its variation regulation with the plastic strain was analyzed in detail here. Then an elastic modulus model was proposed. It is shown that the total strain recovery is composed by the elastic strain recovery and the inelastic strain recovery. Among which, the percentage of the inelastic strain recovery can reach 20% when the plastic strain is 0.2. Elastic modulus decreases with the increase of the plastic strain. However, the decrease slope descends gradually and the elastic modulus tends to be constant when the plastic strain reaches to some level.
    Experimental Study on Factors Influencing Fatigue Life
    LI Chi, XIE Li-Yang, HE Xue-Hong, DIAO Jin-Fang
    2010, 21(03):  355-358. 
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    10 kinds of fatigue specimens were designed considering influence factors of stress concentration, machined surface and size effect. The fatigue life of different form specimens were obtained after repeated tension and compression tests, and its dispersion described by three-parameter Weibull distribution. Fatigue test results indicate that, the stress concentration plays a leading role when stress concentration and machined surface affect parts’ fatigue life simultaneously. For the notched specimen, it is stress gradient around material danger point causes the size effect.
    Experimental Study on New Precision Cropping Process for Metal Bars
    TANG Yong, DIAO Sheng-Dun, WANG Zhen-Wei
    2010, 21(03):  359-363. 
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    This paper presented a new type of precision cropping process method with rotary striking by which high quality cutting surface can be obtained. The theoretical mechanism of this new process was analyzed and discussed comprehensively. The experimental study was performed and exhibited with successful results. A new measurement method was proposed and applied to assess the quality of the cross-section. The results show that this new cropping process can crop the various material and diameter bars, and the cropped billets can meet entire requirements for the precision technology of plasticity. In some cases, they can be directly used in the subsequent process.
    Research on Algorithm of Road
    HONG Bin, GUO Hua-Xun, XU Tie, LI Meng-Liang, YANG Bei
    2010, 21(03):  364-367. 
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    This paper carried out the road surface time waveform reappearance by 4-poster road simulator made in China, and introduced the algorithm of reconstruction of road spectrum by harmony superposition method, the frequency response characteristic identification of test system based on H1 algorithm, the iteration calculation of target date and the estimation of iteration quality. Finally, the algorithm was validated by standard spectrum as excitation, and the margin of error is ±5%, this result can satisfy the requirements of fatigue and reliability tests, etc. 
    Research on Front Wheel Alignment Parameters of Minibus Using DOE Method
    LIN Kai, WANG Jun-Jie, TUN De-Hong
    2010, 21(03):  368-372. 
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    A DOE method was applied to analyze the front wheel alignment parameters of minibus herein. An optimization objective function considering the tolerance of front wheel alignment parameters' practical values and setting values under laden conditions, and the method of combining the orthogonal arrays theory with DOE method in ADAMS were put forward. The front wheel suspension system was founded based on this method, which was utilized to optimize the design of front wheel alignment parameters. The advances and validity of this method was testified by comparing the results of before and after the optimization.
    Modeling and Simulation of Motorcycle Dynamics Based on Road Simulation
    JU Chi-Gong, DAN Xiao-Hui, SHI Quan, XIAO Shun-Li
    2010, 21(03):  372-377. 
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    A 5-DOF multi-body dynamics model of motorcycle was derived based on the inputs and constraints of road simulation tests, and the differential equation of motion and state-space formulation were developed according to Lagrange equation. By iterating the load spectra, which was sampled on Hainan proving ground, the driving signals of motorcycle road simulation were obtained, with the driving signals as inputs, the motorcycle dynamics was simulated using MATLAB program, then the simulations and experiments were compared. The results show that motorcycle dynamics can be analyzed and estimated precisely by combining road simulation with computer simulation.