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Estimation of vehicle sideslip angle via pseudo-multisensor information fusion method 基于伪多传感器信息融合方法的车辆侧滑角估计
IF 1 4区 工程技术 Q4 INSTRUMENTS & INSTRUMENTATION Pub Date : 2023-07-20 DOI: 10.24425/123902
Te Chen, Long Chen, Yingfeng Cai, Xing Xu
This paper presents a novel sideslip angle estimator based on the pseudo-multi-sensor fusion method. The kinematics-based and dynamics-based sideslip angle estimators are designed for sideslip angle estimation. Also, considering the influence of ill-conditioned matrix and model uncertainty, a novel sideslip angle estimator is proposed based on the wheel speed coupling relationship using a modified recursive least squares algorithm. In order to integrate the advantages of above three sideslip angle estimators, drawing lessons from the multisensory information fusion technology, a novel thinking of sideslip angle estimator design is presented through information fusion of pseudo-multi-sensors. Simulations and experiments were carried out, and effectiveness of the proposed estimation method was verified.
本文提出了一种新的基于伪多传感器融合方法的侧滑角估计器。设计了基于运动学和基于动力学的侧滑角估计器用于侧滑角估计。同时,考虑到病态矩阵和模型不确定性的影响,利用改进的递推最小二乘算法,基于轮速耦合关系,提出了一种新的侧滑角估计器。为了综合上述三种侧滑角估计器的优点,借鉴多传感器信息融合技术,通过伪多传感器的信息融合,提出了一种侧滑角估计器设计的新思路。通过仿真和实验验证了该估计方法的有效性。
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引用次数: 5
Analysis of the impact of interior orientation parameters in different UAV-based image-block compositions on positional accuracy 基于无人机的不同图像块组成中内部定向参数对定位精度的影响分析
IF 1 4区 工程技术 Q4 INSTRUMENTS & INSTRUMENTATION Pub Date : 2023-07-20 DOI: 10.24425/123897
D. Grigillo, M. Uršič, Matej Bone, T. Ambrožič, P. Pavlovčič-Prešeren, Mojca Kosmatin-Fras
Understanding the factors that influence the quality of unmanned aerial vehicle (UAV)-based products is a scientifically ongoing and relevant topic. Our research focused on the impact of the interior orientation parameters (IOPs) on the positional accuracy of points in a calibration field, identified and measured in an orthophoto and a point cloud. We established a calibration field consisting of 20 materialized points and 10 detailed points measured with high accuracy. Surveying missions with a fixed-wing UAV were carried out in three series. Several image blocks that differed in flight direction (along, across), flight altitude (70 m, 120 m), and IOPs (known or unknown values in the image-block adjustment) were composed. The analysis of the various scenarios indicated that fixed IOPs, computed from a good geometric composition, can especially improve vertical accuracy in comparison with self-calibration; an image block composed from two perpendicular flight directions can yield better results than an image block composed from a single flight direction.
了解影响无人机产品质量的因素是一个科学的、相关的话题。我们的研究重点是内部方向参数(IOPs)对校准场中点的位置精度的影响,这些点在正射影像仪和点云中被识别和测量。建立了一个由20个物化点和10个高精度测量的细部点组成的标定场。使用固定翼无人机的测量任务分三个系列进行。不同的飞行方向(沿、跨)、飞行高度(70 m、120 m)和IOPs(图像块调整中的已知或未知值)组成多个图像块。对各种场景的分析表明,与自校准相比,从良好的几何组成计算的固定IOPs可以特别提高垂直精度;由两个垂直飞行方向组成的图像块比由单个飞行方向组成的图像块产生更好的结果。
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引用次数: 1
Measurement of the upper respiratory tract aerated space volume using the results of computed tomography 利用计算机断层扫描结果测量上呼吸道充气空间容积
IF 1 4区 工程技术 Q4 INSTRUMENTS & INSTRUMENTATION Pub Date : 2023-07-20 DOI: 10.24425/mms.2019.128366
A. Rybak, A. Zając, A. Kukwa
The paper presents the possibilities of quantitative analysis of results obtained from CT examination of organs and anatomical structures of the upper respiratory tract. The presented results of the analysis were obtained using proprietary software developed in the MATLAB 2018b environment (Image Processing toolbox). The software enables to visualize the original results of CT scan and, after evaluating the visible structures, enables to select the area to be subjected to quantitative analysis. After the initial identification of an area of interest requiring detailed diagnostics, its volume and the surface areas of individual cross-sections are calculated in the area separated for examinations. A graphical presentation of the analysis results – the surface areas of selected cross-sections possible to visualize in two- and three-dimensional space – enables quick analysis of changes in the examined region.
本文介绍了对上呼吸道器官和解剖结构的CT检查结果进行定量分析的可能性。本文的分析结果是使用在MATLAB 2018b环境下开发的专有软件(图像处理工具箱)获得的。该软件可以将CT扫描的原始结果可视化,在评估可见结构后,可以选择要进行定量分析的区域。在初步确定需要详细诊断的感兴趣区域后,在分离的检查区域中计算其体积和单个横截面的表面积。分析结果的图形表示-选择的横截面的表面积可以在二维和三维空间中可视化-可以快速分析检查区域的变化。
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引用次数: 1
Comparative accuracy analysis of triangulated surface models of a fossil skull digitized with various optic devices 不同光学设备数字化颅骨三角表面模型的精度比较分析
IF 1 4区 工程技术 Q4 INSTRUMENTS & INSTRUMENTATION Pub Date : 2023-07-20 DOI: 10.24425/mms.2022.138547
Yaroslav Garashchenko, Ilja Kogan, M. Rucki
Digital metrology was applied to evaluate 3D models of the unique skull of a fossil tetrapod, Madygenerpeton pustulatum , generated using various 3D digitization methods. The skull surface is covered by minute tubercles making it challenging for digitization with appropriate accuracy. Uniqueness and fragility of the specimen preclude the use of tactile measuring systems for creating a standardized reference model. To overcome this problem, comparative analysis of the triangulated models generated from the clouds of points obtained with seven different devices was conducted using the Geomagic Studio and Autodesk PowerShape CAD software. In the proposed approach, geometrically and dimensionally closest-fitting models underwent detailed statistical analysis between surface polygons in three steps. First, 3D models obtained from different scanning methods were compared with each other in couples. Next, statistical analysis of the differences between the coupled models was performed. Finally, a rating list of the models related to the required accuracy was prepared. The proposed approach is applicable to any other scanned object, especially in palaeontological applications, where each object is unique and exhibits individual features.
数字计量学被应用于评估使用各种3D数字化方法生成的一种四足动物化石——脓疱兽的独特头骨的3D模型。颅骨表面覆盖着微小的结节,这使得以适当的精度进行数字化具有挑战性。样本的独特性和脆弱性排除了使用触觉测量系统创建标准化参考模型的可能性。为了克服这个问题,使用Geomagic Studio和Autodesk PowerShape CAD软件对使用七种不同设备获得的点云生成的三角模型进行了比较分析。在所提出的方法中,几何和维度上最接近的拟合模型分三步在表面多边形之间进行了详细的统计分析。首先,将通过不同扫描方法获得的3D模型成对进行比较。接下来,对耦合模型之间的差异进行统计分析。最后,编制了与所需精度相关的模型评级列表。所提出的方法适用于任何其他扫描对象,特别是在古生物学应用中,每个对象都是独特的,并表现出各自的特征。
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引用次数: 2
Magnetotransport measurements as a tool for searching 3D topological insulators 磁输运测量作为搜索三维拓扑绝缘体的工具
IF 1 4区 工程技术 Q4 INSTRUMENTS & INSTRUMENTATION Pub Date : 2023-07-20 DOI: 10.24425/mms.2021.137708
P. Śliż, I. Sankowska, E. Bobko, E. Szeregij, J. Grendysa, G. Tomaka, D. Żak, D. Ploch, A. Jasik
The paper covers some measurement aspects of transport of electrons through metals and semiconductors in magnetic field – magnetotransport – allowing for the determination of electrical parameters characteristic of three-dimensional (3D) topological insulators (TI) (i.e. those that behave like an insulator inside their volume and have a conductive layer on their surface). A characteristic feature of the 3D TI is also a lack of differences between the chemical composition of the conductive surface and the interior of the material tested and the fact that the electron states for its surface conductivity are topologically protected. In particular, the methods of generating strong magnetic fields, obtaining low temperatures, creating electrical contacts with appropriate geometry were presented, and the measurement methods were reviewed. In addition, the results of magnetotransport measurements obtained for two volumetric samples based on the HgCdTe compound grown with the molecular beam epitaxy method are presented.
本文涵盖了电子在磁场中通过金属和半导体的输运的一些测量方面-磁输运-允许确定三维(3D)拓扑绝缘体(TI)的电气参数特征(即那些在其体积内表现得像绝缘体并在其表面上具有导电层的绝缘体)。3D TI的一个特征是导电表面和被测材料内部的化学成分之间没有差异,而且其表面导电性的电子状态受到拓扑保护。重点介绍了产生强磁场、获得低温、产生具有适当几何形状的电触点的方法,并对测量方法进行了综述。此外,还介绍了用分子束外延法生长的HgCdTe化合物的两个体积样品的磁输运测量结果。
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引用次数: 0
An improved algorithm for the series step-up method based on a linear three-ports network 基于线性三端口网络的串联升压法的改进算法
IF 1 4区 工程技术 Q4 INSTRUMENTS & INSTRUMENTATION Pub Date : 2023-07-20 DOI: 10.24425/mms.2022.140035
Hao Liu, Lixue Chen, Xue Wang, Teng Yao, Xiong Gu
Capacitive leakage and adjacent interference are the main influence sources of the measuring error in the traditional series step-up method. To solve the two problems, a new algorithm was proposed in this study based on a three-ports network. Considering the two influences, it has been proved that response of this three-ports network still has characteristics of linear superposition with this new algorithm. In this three-port network, the auxiliary series voltage transformers use a two-stage structure that can further decrease measurement uncertainty. The measurement uncertainty of this proposed method at 500/ √ 3 kV is 6.8 ppm for ratio error and 7 μ rad for phase displacement ( 𝑘 = 2). This new method has also been verified by comparing its results with measurement results of the PTB in Germany over the same 110 /√ 3 kV standard voltage transformer. According to test results, the error between the two methods was less than 2.7 ppm for ratio error and 2.9 μ rad for phase displacement.
电容泄漏和相邻干扰是传统串联升压法测量误差的主要影响因素。为了解决这两个问题,本文提出了一种基于三端口网络的新算法。考虑到这两方面的影响,证明了新算法对三端口网络的响应仍然具有线性叠加的特点。在这种三端口网络中,辅助串联电压互感器采用两级结构,可以进一步降低测量不确定度。该方法在500/√3 kV电压下的测量不确定度为6.8 ppm,相位误差为7 μ rad(𝑘= 2)。通过与德国PTB在相同的110 /√3 kV标准电压互感器上的测量结果进行比较,验证了该方法的正确性。实验结果表明,两种方法的比值误差小于2.7 ppm,相移误差小于2.9 μ rad。
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引用次数: 1
Energy-efficient walking over irregular terrain: a case of hexapod robot 不规则地形节能行走:以六足机器人为例
IF 1 4区 工程技术 Q4 INSTRUMENTS & INSTRUMENTATION Pub Date : 2023-07-20 DOI: 10.24425/mms.2019.130562
Mindaugas Luneckas, Tomas Luneckas, D. Udris, D. Plonis, R. Maskeliūnas, R. Damaševičius
Adaptive locomotion over difficult or irregular terrain is considered as a superiority feature of walking robots over wheeled or tracked machines. However, safe foot positioning, body posture and stability, correct leg trajectory, and efficient path planning are a necessity for legged robots to overcome a variety of possible terrains and obstacles. Without these properties, any walking machine becomes useless. Energy consumption is one of the major problems for robots with a large number of Degrees of Freedom (DoF). When considering apathplanormovementparameterssuchasspeed,steplengthorstepheight,itisimportanttochoosethemost suitablevariablestosustainlongbatterylifeandtoreachtheobjectiveorcompletethetasksuccessfully.We changethesettingsofahexapodrobotlegtrajectoryforovercomingsmallterrainirregularitiesbyoptimizing consumedenergyandlegtrajectoryduringeachlegtransfer.Thetrajectorysettingsareimplementedas apartofhexapodrobotsimulationmodelandtestedthroughseriesofexperimentswithvariousterrains ofdifferingcomplexityandobstaclesofvarioussizes.Ourresultsshowthattheproposedenergy-efficient trajectorytransformationisaneffectivemethodforminimizingenergyconsumptionandimprovingoverall performance of a walking robot.
在困难或不规则地形上的自适应运动被认为是步行机器人比轮式或履带式机器人的优势特征。然而,安全的足部定位、身体姿势和稳定性、正确的腿部轨迹以及有效的路径规划是腿式机器人克服各种可能的地形和障碍物的必要条件。没有这些特性,任何行走机器都将变得毫无用处。能量消耗是大自由度机器人的主要问题之一。当考虑路径规划或运动参数(如速度、步长、步高)时,重要的是选择最合适的变量来维持较长的电池寿命,并成功地达到目标或完成任务。我们通过优化每次腿部转移过程中消耗的能量和腿部轨迹,改变了六足机器人腿部轨迹的设置,以克服小地形的不规则性。轨迹设置是作为六足机器人仿真模型的一部分实现的,并通过一系列具有不同复杂程度的各种雨和不同大小的障碍物的实验进行了测试。结果表明,所提出的节能轨迹转换是一种有效的方法,可以最大限度地减少步行机器人的能量消耗,提高整体性能。
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引用次数: 7
Fault diagnosis method for an aerospace generator rotating rectifier based on dynamic FFT technology 基于动态FFT技术的航空发电机旋转整流器故障诊断方法
IF 1 4区 工程技术 Q4 INSTRUMENTS & INSTRUMENTATION Pub Date : 2023-07-20 DOI: 10.24425/mms.2021.136607
Sai Feng, Jiang Cui, Zhuoran Zhang
A fault diagnosis method for the rotating rectifier of a brushless three-phase synchronous aerospace generator is proposed in this article. The proposed diagnostic system includes three steps: data acquisition, feature extraction and fault diagnosis. Based on a dynamic Fast Fourier Transform (FFT), this method processes the output voltages of aerospace generator continuously and monitors the continuous change trend of the main frequency in the spectrum before and after the fault. The trend can be used to perform fault diagnosis task. The fault features of the rotating rectifier proposed in this paper can quickly and effectively distinguish single and double faulty diodes. In order to verify the proposed diagnosis system, simulation and practical experiments are carried out in this paper, and good results can be achieved.
提出了一种航空航天无刷三相同步发电机旋转整流器的故障诊断方法。该诊断系统包括数据采集、特征提取和故障诊断三个步骤。该方法基于动态快速傅里叶变换(FFT),对航天发电机输出电压进行连续处理,监测故障前后频谱中主频率的连续变化趋势。该趋势可用于执行故障诊断任务。本文提出的旋转整流器故障特征可以快速有效地区分单、双二极管故障。为了验证所提出的诊断系统,本文进行了仿真和实际实验,取得了良好的效果。
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引用次数: 0
Traceability of gas flow measurements in complex distribution systems − uncertainty approach vs error approach 复杂配电系统中气体流量测量的可追溯性-不确定性方法与误差方法
IF 1 4区 工程技术 Q4 INSTRUMENTS & INSTRUMENTATION Pub Date : 2023-07-20 DOI: 10.24425/mms.2019.128358
Z. Dzemic, B. Širok, J. Drnovsek
The objective of the paper is to analyse traceability issues in real-life gas flow measurements in complex distribution systems. The initial aim is to provide complete and traceable measurement results and calibration certificates of gas-flow meters, which correspond to specific installation conditions. Extensive work has been done to enable a more credible decision on how to deal in particular situations with the measurement uncertainty which is always subject of a flow meter’s calibration as a quantitative parameter value obtained in laboratory, and with the qualitative statement about the error of an outdoor meter. The laboratory simulation of a complex, real-life distributed system has been designed to achieve the initial aim. As an extension of standardized procedures that refer to the laboratory conditions, the proposed methods introduce additional “installation-specific” error sources. These sources could be either corrected (if identified) or considered as an additional “installation-specific” uncertainty contribution otherwise. The analysis and the results of the experimental work will contribute to more precise and accurate measurement results, thus assuring proper measurements with a known/estimated uncertainty for a specific gas flow installation. Also, the analysis will improve the existing normative documents by here presented findings, as well as fair trade in one of the most important and growing energy consumption areas regarding the legal metrology aspects. These facts will enable comparing the entire quantity of gas at the input of a complex distributed system with the cumulative sum of all individual gas meters in a specific installation.
本文的目的是分析复杂配电系统中实际气体流量测量中的可追溯性问题。最初的目标是提供完整且可追溯的测量结果和符合特定安装条件的气体流量计校准证书。已经做了大量的工作,以便能够更可靠地决定如何在特定情况下处理测量不确定性,测量不确定性始终是流量计校准的主题,作为实验室中获得的定量参数值,以及关于室外流量计误差的定性声明。为了实现最初的目标,设计了一个复杂的、真实的分布式系统的实验室模拟。作为参考实验室条件的标准化程序的扩展,所提出的方法引入了额外的“安装特定”误差源。这些来源可以被纠正(如果确定),也可以被视为额外的“安装特定”不确定性贡献。分析和实验工作的结果将有助于获得更精确的测量结果,从而确保在已知/估计不确定性的情况下对特定气流装置进行正确的测量。此外,该分析将通过本文提出的结论改进现有的规范性文件,以及在法律计量方面最重要和不断增长的能源消耗领域之一的公平贸易。这些事实将能够将复杂分布式系统输入端的全部气体量与特定安装中所有单个气体表的累计总和进行比较。
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引用次数: 1
Surface damage assessment by analysis of electrical resistance changes in graphite-based sensing skin 通过分析石墨基传感皮肤的电阻变化来评估表面损伤
IF 1 4区 工程技术 Q4 INSTRUMENTS & INSTRUMENTATION Pub Date : 2023-07-20 DOI: 10.24425/mms.2022.140037
Marek Stepnowski, D. Janczak, M. Jakubowska, P. Pyrzanowski
Thearticlepresentsthemethodofidentifyingsurfacedamagebymeasuringchangesinresistanceingraphite-basedsensingskin.Theresearchfocusedonanalysisofconductivityanomaliescausedbysurfacedamage. SensitivitymapsobtainedwithFiniteElementMethod(FEM)inconjunctionwiththeanalyticaldamage modelwereusedtobuildthecoatingevaluationalgorithm.Theexperimentconfirmedtheabilityofthis methodtoidentifyasingleelliptical-shapedamage.Eightelectrodeswereenoughtolocatethedamagethat coveredabout0.1 ‰ of the examined area. The proposed algorithm can prove useful in simple applications for surface condition monitoring. It can be implemented wherever it is possible to apply a thin layer of conductor to a non-conductive surface.
该文章提出了通过测量基于传感器皮肤的石墨电阻变化来识别表面图像的方法。重点分析了表面图像所使用的电导率异常。将有限元法(FEM)的灵敏度映射与分析图像模型相结合,用于构建涂层评估算法。实验证实了这种方法可以确定椭圆形状损伤。八个电极被检测到的损伤覆盖了约0.1‰的检查面积。所提出的算法可以在地表状况监测的简单应用中证明是有用的。它可以在任何可能的地方实现,将导体薄层应用于非导电表面。
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引用次数: 0
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Metrology and Measurement Systems
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