Pub Date : 2024-09-04DOI: 10.1016/j.measurement.2024.115658
Azimuthal mode identification in aero-engines is essential for understanding the mechanism of fan/compressor noise and rotating instability (RI). The compressed sensing (CS) methods enable the identification of azimuthal mode signals at high order with a limited number of sensors, breaking the Nyquist-Shannon sampling theorem. However, the CS method based on ℓ1 regularization introduces the problem of amplitude underestimation. For the accuracy aim, ℓ1/2 regularization is an effective substitution despite the difficulty of solving due to its non-convexity. This paper proposes a Dual Iterative Half Thresholding (D-Half) algorithm to solve the ℓ1/2 regularization problem with high efficiency and accuracy. In the inner iterations, parameter k is introduced to regulate the sparsity of solutions, referred from the Iterative Half Thresholding (Half) algorithm. The outer iterations of k serve to provide an appropriate initialization for each Half problem. The dual iteration structure helps achieve higher reliability and lower dependence on prior information. The applicability of the D-Half algorithm for signal identification with single and multiple dominant modes is validated by a series of numerical experiments and actual tests on a compressor rig. Both results indicate that the D-Half algorithm effectively mitigates the prevalent underestimation of dominant modes, enabling azimuthal mode identification with high accuracy. Furthermore, the D-Half algorithm surpasses the classical CS methods in noise immunity, robustness to sensor failures, and time efficiency.
航空发动机的方位模态识别对于了解风扇/压缩机噪音和旋转不稳定性(RI)的机理至关重要。压缩传感(CS)方法打破了奈奎斯特-香农(Nyquist-Shannon)采样定理,能用有限数量的传感器识别高阶方位角模式信号。然而,基于 ℓ1 正则化的 CS 方法会带来振幅低估的问题。为了实现精度目标,ℓ1/2 正则化是一种有效的替代方法,尽管由于其非凸性而难以解决。本文提出了一种双迭代半阈值(D-Half)算法来高效、准确地解决 ℓ1/2 正则化问题。在内层迭代中,参考迭代半阈值(Half)算法,引入参数 k 来调节解的稀疏性。外层迭代 k 的作用是为每个 Half 问题提供适当的初始化。双重迭代结构有助于实现更高的可靠性和更低的对先验信息的依赖性。通过一系列数值实验和压缩机钻机上的实际测试,验证了 D-Half 算法在单主导模式和多主导模式信号识别中的适用性。这两项结果表明,D-Half 算法有效缓解了普遍存在的低估主导模态的问题,实现了高精度的方位模态识别。此外,D-Half 算法在抗噪性、对传感器故障的鲁棒性和时间效率方面都优于经典的 CS 方法。
{"title":"Enhanced ℓ1/2 regularization via dual Iterative Half Thresholding for azimuthal mode identification","authors":"","doi":"10.1016/j.measurement.2024.115658","DOIUrl":"10.1016/j.measurement.2024.115658","url":null,"abstract":"<div><p>Azimuthal mode identification in aero-engines is essential for understanding the mechanism of fan/compressor noise and rotating instability (RI). The compressed sensing (CS) methods enable the identification of azimuthal mode signals at high order with a limited number of sensors, breaking the Nyquist-Shannon sampling theorem. However, the CS method based on <em>ℓ</em><sub>1</sub> regularization introduces the problem of amplitude underestimation. For the accuracy aim, <em>ℓ</em><sub>1/2</sub> regularization is an effective substitution despite the difficulty of solving due to its non-convexity. This paper proposes a Dual Iterative Half Thresholding (<em>D-Half</em>) algorithm to solve the <em>ℓ</em><sub>1/2</sub> regularization problem with high efficiency and accuracy. In the inner iterations, parameter <em>k</em> is introduced to regulate the sparsity of solutions, referred from the Iterative Half Thresholding (<em>Half</em>) algorithm. The outer iterations of <em>k</em> serve to provide an appropriate initialization for each <em>Half</em> problem. The dual iteration structure helps achieve higher reliability and lower dependence on prior information. The applicability of the <em>D-Half</em> algorithm for signal identification with single and multiple dominant modes is validated by a series of numerical experiments and actual tests on a compressor rig. Both results indicate that the <em>D-Half</em> algorithm effectively mitigates the prevalent underestimation of dominant modes, enabling azimuthal mode identification with high accuracy. Furthermore, the <em>D-Half</em> algorithm surpasses the classical CS methods in noise immunity, robustness to sensor failures, and time efficiency.</p></div>","PeriodicalId":18349,"journal":{"name":"Measurement","volume":null,"pages":null},"PeriodicalIF":5.2,"publicationDate":"2024-09-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142158197","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-09-04DOI: 10.1016/j.measurement.2024.115660
Fire prevention in industrial settings are paramount for ensuring human safety and economic stability. However, current mainstream DETR detectors face significant challenges in applications due to the necessity for extensive memory accesses and inference delays. To tackle these complexities, we propose an Industrial Fire Smoke Detector based on an end-to-end structured framework. In a series of innovative optimizations, we firstly adopt a more lightweight backbone network, LeanNet, for feature extraction. Combined with the optimized Transformer architecture, this approach enhances the model’s detection speed to address real-time challenges effectively. Secondly, we introduce a Feature Fusion Network based on alignment mechanisms to enhance the DETR model’s multi-scale object representation capabilities without significantly increasing latency. Subsequently, to facilitate easier training and optimization of IFS-DETR, we introduce IoU-aware query selection and an aspect ratio-based denoising training strategy, and enhance the localization loss function using Inner-SIoU. Finally, we deploy IFS-DETR on NVIDIA Jetson Orin Nano. The dataset is available at https://github.com/Sonnenb1ume/IFS-DETR.
{"title":"IFS-DETR: A real-time industrial fire smoke detection algorithm based on an end-to-end structured network","authors":"","doi":"10.1016/j.measurement.2024.115660","DOIUrl":"10.1016/j.measurement.2024.115660","url":null,"abstract":"<div><p>Fire prevention in industrial settings are paramount for ensuring human safety and economic stability. However, current mainstream DETR detectors face significant challenges in applications due to the necessity for extensive memory accesses and inference delays. To tackle these complexities, we propose an Industrial Fire Smoke Detector based on an end-to-end structured framework. In a series of innovative optimizations, we firstly adopt a more lightweight backbone network, LeanNet, for feature extraction. Combined with the optimized Transformer architecture, this approach enhances the model’s detection speed to address real-time challenges effectively. Secondly, we introduce a Feature Fusion Network based on alignment mechanisms to enhance the DETR model’s multi-scale object representation capabilities without significantly increasing latency. Subsequently, to facilitate easier training and optimization of IFS-DETR, we introduce IoU-aware query selection and an aspect ratio-based denoising training strategy, and enhance the localization loss function using Inner-SIoU. Finally, we deploy IFS-DETR on NVIDIA Jetson Orin Nano. The dataset is available at <span><span>https://github.com/Sonnenb1ume/IFS-DETR</span><svg><path></path></svg></span>.</p></div>","PeriodicalId":18349,"journal":{"name":"Measurement","volume":null,"pages":null},"PeriodicalIF":5.2,"publicationDate":"2024-09-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0263224124015458/pdfft?md5=611c18cfd54260852ed8b85809b6b200&pid=1-s2.0-S0263224124015458-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142164607","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-09-04DOI: 10.1016/j.measurement.2024.115584
This paper explores the application of a liquid circular angular accelerometer (LCAA) in incipient bearing fault diagnosis. First, a wireless instantaneous angular acceleration (IAA) signal acquisition system is designed to collect motor IAA under various bearing fault conditions. Then, the IAA characteristics of the motor with both healthy bearings and incipient bearing faults are analyzed, which provides valuable insights into fault diagnosis method design. The proposed method implements an advanced signal preprocessing technique, which is developed based on self-adaptive noise cancellation (separates discrete frequency noises), minimum entropy deconvolution (enhances the fault-related components), and a novel approach of sliding time-window analysis to improve reliability. Hereafter, IAA-based estimated fault characteristic frequencies are identified in the envelope spectra of the post-processed data, which finalizes the bearing fault diagnosis. Simulation and experimental results substantiate the effectiveness of the proposed approach for early fault detection, even under the conditions of low sampling rates.
{"title":"Liquid circular angular accelerometer-based incipient bearing fault diagnosis","authors":"","doi":"10.1016/j.measurement.2024.115584","DOIUrl":"10.1016/j.measurement.2024.115584","url":null,"abstract":"<div><p>This paper explores the application of a liquid circular angular accelerometer (LCAA) in incipient bearing fault diagnosis. First, a wireless instantaneous angular acceleration (IAA) signal acquisition system is designed to collect motor IAA under various bearing fault conditions. Then, the IAA characteristics of the motor with both healthy bearings and incipient bearing faults are analyzed, which provides valuable insights into fault diagnosis method design. The proposed method implements an advanced signal preprocessing technique, which is developed based on self-adaptive noise cancellation (separates discrete frequency noises), minimum entropy deconvolution (enhances the fault-related components), and a novel approach of sliding time-window analysis to improve reliability. Hereafter, IAA-based estimated fault characteristic frequencies are identified in the envelope spectra of the post-processed data, which finalizes the bearing fault diagnosis. Simulation and experimental results substantiate the effectiveness of the proposed approach for early fault detection, even under the conditions of low sampling rates.</p></div>","PeriodicalId":18349,"journal":{"name":"Measurement","volume":null,"pages":null},"PeriodicalIF":5.2,"publicationDate":"2024-09-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142168975","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-09-03DOI: 10.1016/j.measurement.2024.115623
Silvino A. Balderrama Prieto, Nicholas Williams, Jason Palmer, Robin V. Roper, Richard N. Christensen, Piyush Sabharwall, Paul Marotta
This study outlines the development and testing of a flow meter prototype specifically designed for use in nuclear reactor environments. The meter uses flow-induced vibration to measure flow rates and is designed for remote monitoring in harsh environments where radiation can damage electronics. The device generates a vibration signal produced by a feedback system when fluid flows out of an orifice and interacts with a downstream wedge. The frequency of the vibration signal corresponds directly to flow rate and velocity. The study investigates geometric parameters intrinsic to the prototype, such as orifice height, width, edge distance, and chamber length. Different configurations were also tested, including a bypass loop with variable cross-sections around the device. The investigation results reveal the impact of these geometric parameters on the vibration signal output, providing valuable insights for future design improvements and enhancing the effectiveness of flow metering systems used in nuclear reactor applications.
{"title":"Development and experimental evaluation of an acoustic flow meter prototype for measuring air flow","authors":"Silvino A. Balderrama Prieto, Nicholas Williams, Jason Palmer, Robin V. Roper, Richard N. Christensen, Piyush Sabharwall, Paul Marotta","doi":"10.1016/j.measurement.2024.115623","DOIUrl":"https://doi.org/10.1016/j.measurement.2024.115623","url":null,"abstract":"This study outlines the development and testing of a flow meter prototype specifically designed for use in nuclear reactor environments. The meter uses flow-induced vibration to measure flow rates and is designed for remote monitoring in harsh environments where radiation can damage electronics. The device generates a vibration signal produced by a feedback system when fluid flows out of an orifice and interacts with a downstream wedge. The frequency of the vibration signal corresponds directly to flow rate and velocity. The study investigates geometric parameters intrinsic to the prototype, such as orifice height, width, edge distance, and chamber length. Different configurations were also tested, including a bypass loop with variable cross-sections around the device. The investigation results reveal the impact of these geometric parameters on the vibration signal output, providing valuable insights for future design improvements and enhancing the effectiveness of flow metering systems used in nuclear reactor applications.","PeriodicalId":18349,"journal":{"name":"Measurement","volume":null,"pages":null},"PeriodicalIF":5.6,"publicationDate":"2024-09-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142188441","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-09-03DOI: 10.1016/j.measurement.2024.115642
Anwar Hamadi, Abdelhakim Latoui
Using one’s own smartphone for indoor navigation, especially for visually impaired individuals, can be a valuable and empowering tool to promote independence and safe mobility. Additionally, the integration of Pedestrian Dead Reckoning (PDR), which relies on smartphone sensors like accelerometers and gyroscopes, is a well-known and widely used approach in the field of indoor navigation. However, despite continuous improvements in sensor technology, addressing drift issues remains a principal problem in the effective implementation of PDR systems. On the other hand, although the use of Simultaneous Localization and Mapping (SLAM) technologies in smartphones for indoor navigation has also gained significant adoption in recent years, there are indeed challenges associated with SLAM, including low localization accuracy and potential tracking divergence. To overcome the above limitations, this paper presents a novel and promising solution for smartphone-based indoor localization, addressing the limitations of both PDR and SLAM through their synergistic integration. In fact, to correct the accumulated errors of the proposed localization system and thus improve the accuracy, our approach uses an ORB-SLAM camera and PDR inertial sensors via a Kalman filter to achieve back-end fusion. Experimental results show that our localization system significantly reduces the mean localization error by 62%, marking a considerable improvement over the standalone PDR and SLAM systems. Moreover, compared with state-of-the-art techniques, our system achieves high localization accuracy, with an improvement of 59%, making it highly suitable for today’s real-time applications, especially beneficial for visually impaired people.
使用自己的智能手机进行室内导航,特别是对于视障人士来说,可以成为促进独立性和安全移动性的宝贵工具。此外,行人惯性导航(PDR)依赖于加速度计和陀螺仪等智能手机传感器,是室内导航领域众所周知且广泛使用的方法。然而,尽管传感器技术不断改进,但解决漂移问题仍是有效实施行人推算系统的主要问题。另一方面,虽然近年来在智能手机中使用同步定位和绘图(SLAM)技术进行室内导航的做法也得到了广泛采用,但 SLAM 确实存在一些挑战,包括定位精度低和潜在的跟踪偏差。为了克服上述局限性,本文提出了一种新颖且有前景的智能手机室内定位解决方案,通过协同整合 PDR 和 SLAM,解决了两者的局限性。事实上,为了纠正所建议的定位系统的累积误差,从而提高准确度,我们的方法通过卡尔曼滤波器使用 ORB-SLAM 摄像头和 PDR 惯性传感器来实现后端融合。实验结果表明,我们的定位系统将平均定位误差大幅降低了 62%,与独立的 PDR 和 SLAM 系统相比有了显著改善。此外,与最先进的技术相比,我们的系统实现了较高的定位精度,提高了 59%,因此非常适合当今的实时应用,尤其对视障人士大有裨益。
{"title":"An accurate smartphone-based indoor pedestrian localization system using ORB-SLAM camera and PDR inertial sensors fusion approach","authors":"Anwar Hamadi, Abdelhakim Latoui","doi":"10.1016/j.measurement.2024.115642","DOIUrl":"https://doi.org/10.1016/j.measurement.2024.115642","url":null,"abstract":"Using one’s own smartphone for indoor navigation, especially for visually impaired individuals, can be a valuable and empowering tool to promote independence and safe mobility. Additionally, the integration of Pedestrian Dead Reckoning (PDR), which relies on smartphone sensors like accelerometers and gyroscopes, is a well-known and widely used approach in the field of indoor navigation. However, despite continuous improvements in sensor technology, addressing drift issues remains a principal problem in the effective implementation of PDR systems. On the other hand, although the use of Simultaneous Localization and Mapping (SLAM) technologies in smartphones for indoor navigation has also gained significant adoption in recent years, there are indeed challenges associated with SLAM, including low localization accuracy and potential tracking divergence. To overcome the above limitations, this paper presents a novel and promising solution for smartphone-based indoor localization, addressing the limitations of both PDR and SLAM through their synergistic integration. In fact, to correct the accumulated errors of the proposed localization system and thus improve the accuracy, our approach uses an ORB-SLAM camera and PDR inertial sensors via a Kalman filter to achieve back-end fusion. Experimental results show that our localization system significantly reduces the mean localization error by 62%, marking a considerable improvement over the standalone PDR and SLAM systems. Moreover, compared with state-of-the-art techniques, our system achieves high localization accuracy, with an improvement of 59%, making it highly suitable for today’s real-time applications, especially beneficial for visually impaired people.","PeriodicalId":18349,"journal":{"name":"Measurement","volume":null,"pages":null},"PeriodicalIF":5.6,"publicationDate":"2024-09-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142188444","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-09-03DOI: 10.1016/j.measurement.2024.115624
Suhaib Ul Reyaz, Surendra Beniwal
Geometry measurement of concrete subsurface damage is as crucial as detection and localization for condition evaluation. Ultrasonic reflection-based imaging can map subsurface reflector geometry, however direct measurements from images are inaccurate. In this study, amplitude of imaged reflectors is used to accurately measure geometry of horizontal and inclined reflectors in concrete subsurface. Four statistical parameters have been tested for suitability of measurement by studying their performances with respect to crack geometry (length and angle) and positions in concrete using simulations. These tests show that the ‘max’ parameter measured reflector geometry with the least error. The technique is frequency independent in the commonly used 50 to 150 kHz range of concrete inspection. For validation of the technique, experimental studies were performed on three concrete specimens with various embedded linear reflectors and one specimen with multilinear reflectors. Isolated horizontal reflectors and isolated inclined reflectors in concrete were measured with minimum 98%, and 94.5% accuracy, respectively. Compared to the prevalent pixel count approach and decibel drop techniques in medical field and metal NDT, the proposed technique performs significantly better. Measurement of multilinear and multiple-originating cracks achieved at least 90% accuracy. The technique was also tested on an arbitrary oriented crack in a three dimensional setup with significant accuracy.
{"title":"Geometry measurement of subsurface cracks in concrete from ultrasonic images","authors":"Suhaib Ul Reyaz, Surendra Beniwal","doi":"10.1016/j.measurement.2024.115624","DOIUrl":"https://doi.org/10.1016/j.measurement.2024.115624","url":null,"abstract":"Geometry measurement of concrete subsurface damage is as crucial as detection and localization for condition evaluation. Ultrasonic reflection-based imaging can map subsurface reflector geometry, however direct measurements from images are inaccurate. In this study, amplitude of imaged reflectors is used to accurately measure geometry of horizontal and inclined reflectors in concrete subsurface. Four statistical parameters have been tested for suitability of measurement by studying their performances with respect to crack geometry (length and angle) and positions in concrete using simulations. These tests show that the ‘max’ parameter measured reflector geometry with the least error. The technique is frequency independent in the commonly used 50 to 150 kHz range of concrete inspection. For validation of the technique, experimental studies were performed on three concrete specimens with various embedded linear reflectors and one specimen with multilinear reflectors. Isolated horizontal reflectors and isolated inclined reflectors in concrete were measured with minimum 98%, and 94.5% accuracy, respectively. Compared to the prevalent pixel count approach and decibel drop techniques in medical field and metal NDT, the proposed technique performs significantly better. Measurement of multilinear and multiple-originating cracks achieved at least 90% accuracy. The technique was also tested on an arbitrary oriented crack in a three dimensional setup with significant accuracy.","PeriodicalId":18349,"journal":{"name":"Measurement","volume":null,"pages":null},"PeriodicalIF":5.6,"publicationDate":"2024-09-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142188440","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-09-02DOI: 10.1016/j.measurement.2024.115643
Hanbo Wang, Xiufeng Wang, Zhi Chen, Xuecen Zhao, Haiyang Wang
The double-cone seal is a crucial component of the canned reactor coolant pump (RCP), serving as a vital barrier to prevent coolant leakage. Its sealing status directly impacts the operational safety of the RCP. Given the intricate operational conditions and rigorous sealing requirements of RCP, there is a dearth of effective detection methods for minor leakage of double-cone seal. To address this issue, a quantitative assessment method for the leakage of double-cone seal based on double-cone ring stress is proposed. In this paper, the functional relationship between the double-cone ring stress and the specific pressure of the gasket seal is first derived. Subsequently, a leakage rate assessment model based on the double-cone ring stress is proposed by combining with the leakage rate expression of the metal gasket connection structure. Finally, the feasibility of the proposed method for the leakage detection of double-cone seal is verified by finite element simulation and leakage simulation test. The results demonstrate that the proposed method is capable of detecting small leakage conditions with a leakage rate in the order of 1 × 10 cm·s, which is sufficient for the micro-leakage detection of double-cone seal.
{"title":"Quantitative assessment of double-cone seal leakage in canned reactor coolant pump based on double-cone ring stress","authors":"Hanbo Wang, Xiufeng Wang, Zhi Chen, Xuecen Zhao, Haiyang Wang","doi":"10.1016/j.measurement.2024.115643","DOIUrl":"https://doi.org/10.1016/j.measurement.2024.115643","url":null,"abstract":"The double-cone seal is a crucial component of the canned reactor coolant pump (RCP), serving as a vital barrier to prevent coolant leakage. Its sealing status directly impacts the operational safety of the RCP. Given the intricate operational conditions and rigorous sealing requirements of RCP, there is a dearth of effective detection methods for minor leakage of double-cone seal. To address this issue, a quantitative assessment method for the leakage of double-cone seal based on double-cone ring stress is proposed. In this paper, the functional relationship between the double-cone ring stress and the specific pressure of the gasket seal is first derived. Subsequently, a leakage rate assessment model based on the double-cone ring stress is proposed by combining with the leakage rate expression of the metal gasket connection structure. Finally, the feasibility of the proposed method for the leakage detection of double-cone seal is verified by finite element simulation and leakage simulation test. The results demonstrate that the proposed method is capable of detecting small leakage conditions with a leakage rate in the order of 1 × 10 cm·s, which is sufficient for the micro-leakage detection of double-cone seal.","PeriodicalId":18349,"journal":{"name":"Measurement","volume":null,"pages":null},"PeriodicalIF":5.6,"publicationDate":"2024-09-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142188446","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-09-02DOI: 10.1016/j.measurement.2024.115622
Xiankun Lin, Haohui Zhu, Francis Ennocent Amwayi
It is significant to improve the locomotion trajectory accuracy of a quadruped robot for more applications. A compensation approach with kinematic parameter calibration is proposed to enhance the trajectory accuracy. The motion equation of the foot ends in coordinated gait is given. The related kinematic error model is deduced. The model for identifying the joint parameter errors is implemented via the trajectory error in the Z-direction. The trunk trajectory accuracy enhancement is facilitated by compensating the joint parameter error with joint angles as tuning variables. The performance of the methodology is validated in the simulation system by predetermining ten random sets of joint variable errors. The results indicate that both the trajectory and the attitude accuracy of the calibrated robot can be significantly improved. In practical experiments, it is shown that an error reduction rate of 80% in positional deviation and 58% in attitude error can be achieved.
提高四足机器人的运动轨迹精度对更多应用具有重要意义。本文提出了一种运动参数校准补偿方法,以提高运动轨迹精度。给出了协调步态中脚端的运动方程。推导出了相关的运动学误差模型。通过 Z 方向的轨迹误差实现了识别关节参数误差的模型。通过以关节角度作为调整变量来补偿关节参数误差,从而提高了躯干轨迹精度。通过预先确定十组随机关节变量误差,在仿真系统中验证了该方法的性能。结果表明,校准后机器人的轨迹和姿态精度都能得到显著提高。实际实验表明,位置偏差和姿态误差分别可减少 80% 和 58%。
{"title":"Locomotion trajectory optimization for quadruped robots with kinematic parameter calibration and compensation","authors":"Xiankun Lin, Haohui Zhu, Francis Ennocent Amwayi","doi":"10.1016/j.measurement.2024.115622","DOIUrl":"https://doi.org/10.1016/j.measurement.2024.115622","url":null,"abstract":"It is significant to improve the locomotion trajectory accuracy of a quadruped robot for more applications. A compensation approach with kinematic parameter calibration is proposed to enhance the trajectory accuracy. The motion equation of the foot ends in coordinated gait is given. The related kinematic error model is deduced. The model for identifying the joint parameter errors is implemented via the trajectory error in the Z-direction. The trunk trajectory accuracy enhancement is facilitated by compensating the joint parameter error with joint angles as tuning variables. The performance of the methodology is validated in the simulation system by predetermining ten random sets of joint variable errors. The results indicate that both the trajectory and the attitude accuracy of the calibrated robot can be significantly improved. In practical experiments, it is shown that an error reduction rate of 80% in positional deviation and 58% in attitude error can be achieved.","PeriodicalId":18349,"journal":{"name":"Measurement","volume":null,"pages":null},"PeriodicalIF":5.6,"publicationDate":"2024-09-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142188448","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-09-02DOI: 10.1016/j.measurement.2024.115648
Thermal transport characterization of thermal interface materials (TIMs), especially in their application scenario is so far challenging. Herein, we demonstrate a low-frequency frequency domain thermoreflectance technique to measure the semi-in-situ thermal transport properties of TIMs in a sandwiched structure. The measurement ability is first demonstrated by accurate measurement on several well-known materials. Then the thermal conductivity and interface thermal resistance of a thermal gel, a thermal pad composed of phase change materials and an Indium foil, sandwiched in two silicon slides are investigated. Sensitivity analysis emphasized the importance of pump laser spot size and modulation frequency in the measurement. For TIMs with low thermal conductivity, the sensitivity to interface thermal resistance is highly suppressed, while for TIMs with high thermal conductivity, the sensitivity to interface thermal resistance is prominent, which makes it easier to separately determine the TIM thermal conductivity and interface thermal resistance.
迄今为止,热界面材料(TIMs)的热传输表征,尤其是在其应用场景中的热传输表征,是一项具有挑战性的工作。在此,我们展示了一种低频频域热反射技术,用于测量夹层结构中热界面材料的半原位热传输特性。首先通过对几种知名材料的精确测量证明了测量能力。然后研究了夹在两个硅片中的热凝胶、相变材料组成的热垫和铟箔的热导率和界面热阻。灵敏度分析强调了泵浦激光光斑大小和调制频率在测量中的重要性。对于热导率低的 TIM,界面热阻的灵敏度被高度抑制,而对于热导率高的 TIM,界面热阻的灵敏度则非常突出,这使得分别测定 TIM 热导率和界面热阻变得更加容易。
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Pub Date : 2024-09-02DOI: 10.1016/j.measurement.2024.115653
Accurately reconstructing the unknown dynamic loading is crucial for controlling the vibration of mechanical systems. Many methods have been proposed for load identification of time-invariant systems, but in some mechanical systems, their structural parameters exhibit time-varying dynamic characteristics during their operation. Therefore, tracking the time-varying structural parameters to update the transfer function is necessary, which is the most important prerequisite for load reconstruction. However, some existing methods are unstable because of the nonlinear conditions. To overcome this issue, an improved dual-nested Kalman filter framework has been proposed. This method allocates unknown variables to two Kalman filters, allowing them to iterate and loop with each other. As a result, it achieves linear reconstruction of the dynamic loading for a time-varying system. The proposed method has been validated in two numerical examples: one is a spring-mass system with abruptly changing mass parameters, and the other is a milling system with slowly changing mass parameters. The results show that the proposed method can reconstruct loading stably and is not susceptible to noise interference.
{"title":"An online reconstruction method of dynamic loading based on adaptive tracking dual nested Kalman filter","authors":"","doi":"10.1016/j.measurement.2024.115653","DOIUrl":"10.1016/j.measurement.2024.115653","url":null,"abstract":"<div><p>Accurately reconstructing the unknown dynamic loading is crucial for controlling the vibration of mechanical systems. Many methods have been proposed for load identification of time-invariant systems, but in some mechanical systems, their structural parameters exhibit time-varying dynamic characteristics during their operation. Therefore, tracking the time-varying structural parameters to update the transfer function is necessary, which is the most important prerequisite for load reconstruction. However, some existing methods are unstable because of the nonlinear conditions. To overcome this issue, an improved dual-nested Kalman filter framework has been proposed. This method allocates unknown variables to two Kalman filters, allowing them to iterate and loop with each other. As a result, it achieves linear reconstruction of the dynamic loading for a time-varying system. The proposed method has been validated in two numerical examples: one is a spring-mass system with abruptly changing mass parameters, and the other is a milling system with slowly changing mass parameters. The results show that the proposed method can reconstruct loading stably and is not susceptible to noise interference.</p></div>","PeriodicalId":18349,"journal":{"name":"Measurement","volume":null,"pages":null},"PeriodicalIF":5.2,"publicationDate":"2024-09-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0263224124015380/pdfft?md5=cd5d63bfc7190693ac2418ac355f200b&pid=1-s2.0-S0263224124015380-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142164598","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}