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Detection and correction of equipment biases during engine tests 发动机试验中设备偏差的检测和纠正
Pub Date : 2022-08-01 DOI: 10.1784/insi.2022.64.8.459
Alex Mourer, J. Lacaille
Production tests on test-benches are mandatory before aircraft engines are delivered, as the measurements taken during the tests determine whether the engine meets the requirements. They are essential for both aircraft and engine manufacturers and the latter can use them to obtain a comprehensive picture of the performance of each engine. Such tests involve numerous measurements, the analysis of which is a challenging task. The study presented in this paper aims to detect possible biases introduced by the instruments used to measure the engines during the tests, especially the test-bench itself. A method is proposed to correct these biases. At the end, it will be necessary to verify that the data are corrected, ie that the measurements no longer depend on the test-bench on which they were made. This analysis is the follow-up of previous work on thrust tendency estimation[1].
在飞机发动机交付之前,在试验台进行生产测试是强制性的,因为在测试期间进行的测量决定了发动机是否符合要求。它们对飞机和发动机制造商都是必不可少的,后者可以使用它们来全面了解每种发动机的性能。这些测试涉及大量的测量,分析这些测量是一项具有挑战性的任务。本文的研究旨在检测测试过程中用于测量发动机的仪器,特别是试验台本身可能带来的偏差。提出了一种修正这些偏差的方法。最后,有必要验证数据是否正确,即测量结果不再依赖于进行测量的试验台。这一分析是对先前推力倾向估计工作的后续。
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引用次数: 0
Object recognition using tactile sensing in a robotic gripper 在机器人抓取器中使用触觉感知的物体识别
Pub Date : 2022-07-01 DOI: 10.1784/insi.2022.64.7.383
V. Riffo, C. Pieringer, S. Flores, C. Carrasco
Object recognition using the tactile sense is one of the leading human capacities. This capability is not as developed in robotics as other sensory abilities, for example visual recognition. In addition to a robot's ability to grasp objects without damaging them, it is also helpful to provide these machines with the ability to recognise objects while gently manipulating them, as humans do in the absence of or complementary to other senses. Advances in sensory technology have allowed for the accurate detection of different types of environment; however, the challenge of being able to efficiently represent sensory information persists. In this paper, a sensory system is proposed that allows a robotic gripper armed with pressure sensors to recognise objects through tactile manipulation. A pressure descriptor is designed to characterise the voltage magnitudes across different objects and, finally, machine learning algorithms are used to recognise each object category. The results show that the pressure descriptor characterises the different classes of objects in this experimental set-up. This system can complement other sensory data to perform different tasks in a robotic environment and future research areas are proposed to handle problems with tactile manipulation.
利用触觉识别物体是人类的主要能力之一。这种能力在机器人技术中并不像其他感官能力(例如视觉识别)那样发达。除了让机器人能够在不损坏物体的情况下抓住物体之外,让这些机器在轻轻操纵物体的同时识别物体的能力也很有帮助,就像人类在缺乏或补充其他感官时所做的那样。感官技术的进步使人们能够准确地探测不同类型的环境;然而,如何有效地表达感官信息的挑战依然存在。在本文中,提出了一种感官系统,允许配备压力传感器的机器人抓手通过触觉操作识别物体。设计一个压力描述符来描述不同物体之间的电压大小,最后,使用机器学习算法来识别每个物体类别。结果表明,在这个实验装置中,压力描述符表征了不同类别的物体。该系统可以补充其他感官数据,在机器人环境中执行不同的任务,并提出了未来的研究领域,以解决触觉操作问题。
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引用次数: 2
Detecting corrugation defects in harbour railway networks using axle-box acceleration data 利用轴箱加速度数据检测港口铁路网波纹缺陷
Pub Date : 2022-07-01 DOI: 10.1784/insi.2022.64.7.404
J. Heusel, B. Baasch, W. Riedler, Michael Roth, S. Shankar, J. Groos
Sea- and inner ports are intermodal traffic nodes that play an important role in transportation, especially in the transportation of goods. The appearance of track defects in a harbour railway network has a negative impact on safety, cost and comfort (for example due to noise emission). The analysis of data obtained by embedded acceleration sensors, which are installed at the axle box of an equipped in-service vehicle, allows for continuous condition monitoring of the track infrastructure. The German Aerospace Center (DLR) develops prototypical modular multi-sensor systems that are used in different operational environments, including on a shunter locomotive operating in an industrial harbour railway network in Braunschweig, Germany. Within the HavenZuG research project, extensive rail longitudinal profile and track geometry measurements have been performed using established inspection methods to obtain the true underlying condition of the railway network. In the present paper, methods for gaining relevant information from the axle-box acceleration (ABA) data are presented and validated with the given reference data. The focus is on detecting defects that are visible in the rail longitudinal profile, mainly rail corrugation. It can be shown that ABA data gathered during everyday shunting operation can be used for detecting corrugation and for inferring rail longitudinal profile parameters.
海港和内港是多式联运的枢纽,在运输特别是货物运输中起着重要的作用。海港铁路网轨道缺陷的出现对安全、成本和舒适度有负面影响(例如由于噪音排放)。嵌入式加速度传感器安装在现役车辆的轴箱上,通过对传感器获取的数据进行分析,可以对轨道基础设施进行持续状态监测。德国航空航天中心(DLR)开发了用于不同操作环境的原型模块化多传感器系统,包括在德国不伦瑞克的工业港口铁路网络中运行的分流机车上。在HavenZuG研究项目中,使用既定的检查方法进行了广泛的铁路纵剖面和轨道几何测量,以获得铁路网的真实基本状况。本文提出了从轴箱加速度(ABA)数据中获取相关信息的方法,并用给定的参考数据进行了验证。重点是检测在钢轨纵剖面上可见的缺陷,主要是钢轨波纹。结果表明,在日常调车作业中收集的ABA数据可用于检测波纹和推断轨道纵剖面参数。
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引用次数: 3
Quantitative analysis of the structural health of railway turnouts using the acoustic emission technique 用声发射技术定量分析铁路道岔结构健康状况
Pub Date : 2022-07-01 DOI: 10.1784/insi.2022.64.7.398
M. Kongpuang, R. Culwick, N. Cheputeh, A. Marsh, V. L. Jantara Junior, P. Vallely, S. Kaewunruen, M. Papaelias
Rail defects such as fatigue cracks have been one of the leading root causes of a number of derailments in the past. Cracks that initiate and propagate below the surface are difficult to detect using traditional non-destructive testing (NDT) methods. Acoustic emission (AE) is a more effective method for detecting and monitoring crack growth in rails online. This study investigates the applicability of AE for quantifying damage propagation in austenitic cast manganese steel used in manufacturing railway turnouts. The relationship between AE and crack growth rate in austenitic cast manganese steel samples that were fatigue tested in a three-point bending configuration was investigated by evaluating the AE activity with respect to direct current potential drop (DCPD) measurements and scanning electron microscopy (SEM) fractographic analysis of the tested samples. From the results obtained, it was not possible to observe a clear relationship between AE activity and the actual crack growth rate. Based on the SEM fractographic analysis, this is likely due to the plasticity occurring at the tip of the fatigue crack in the tested samples. This is plausible since the cast manganese steel samples had been cut off from a plate that had not been previously work hardened. The effect of carbides present in the microstructure is an additional contributing factor. Further tests should be carried out on cast manganese steel samples that have been work hardened prior to fatigue testing.
在过去,疲劳裂纹等轨道缺陷一直是许多脱轨事故的主要根本原因之一。使用传统的无损检测(NDT)方法很难检测到在表面以下产生和扩展的裂纹。声发射是在线检测和监测钢轨裂纹扩展的一种较为有效的方法。研究了声发射技术在铁路道岔用奥氏体铸钢损伤扩展量化中的适用性。通过对测试样品进行直流电位降(DCPD)测量和扫描电子显微镜(SEM)断口分析,研究了三点弯曲疲劳状态下奥氏体铸锰钢试样的声发射活性与裂纹扩展速率之间的关系。从得到的结果来看,不可能观察到声发射活动与实际裂纹扩展速率之间的明确关系。根据SEM断口分析,这可能是由于在测试样品的疲劳裂纹尖端发生塑性。这是合理的,因为铸造锰钢样品是从先前没有加工硬化的板上切下来的。存在于微观结构中的碳化物的影响是另一个影响因素。进一步的试验应在疲劳试验前对已加工硬化的铸造锰钢试样进行。
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引用次数: 0
Research on pipe in-line inspection technology based on the rotating electromagnetic field 基于旋转电磁场的管道在线检测技术研究
Pub Date : 2022-07-01 DOI: 10.1784/insi.2022.64.7.377
Feng Yijing, Zhang Laibin, Zheng Wenpei, Liu Haitao
A multidisciplinary non-destructive study based on the rotating electromagnetic field has been carried out in an attempt to inspect cracks in any direction on the inner wall of a pipeline with high precision. In this study, an approach is proposed to test and evaluate pipe integrity. An inspection tool that works according to the rotating electromagnetic field is developed in order to determine stress corrosion cracking. In addition, experiments are carried out to test the practicality of the tool. Firstly, the principle and function of the rotating electromagnetic field tool are revealed and the results show that the tool has an outstanding crack inspection capability on the pipe wall. It can also provide a technical reference for the early warning and long-term safe service of metal structures.
为了高精度地检测管道内壁任意方向的裂纹,开展了基于旋转电磁场的多学科无损检测研究。本研究提出了一种管道完整性测试与评价方法。为了确定应力腐蚀裂纹,研制了一种根据旋转电磁场工作的检测工具。此外,还进行了实验,验证了该工具的实用性。首先,介绍了旋转电磁场检测工具的工作原理和功能,结果表明,旋转电磁场检测工具对管壁裂纹检测能力较强。为金属结构的早期预警和长期安全使用提供技术参考。
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引用次数: 0
Re-examination of Critical-angle Reflectometry Used in Ultrasonic Non-destructive Testing For Estimating Material Anisotropy 临界角度反射法在超声无损检测中估计材料各向异性的再检验
Pub Date : 2022-06-01 DOI: 10.1784/insi.2022.64.6.341
Jia-Wei Liu, Young-Fo Chang
Seismic critical-angle reflectometry (SCR) can hardly be regarded as a reliable standalone method for anisotropic parameter estimation of strata in seismic exploration, but ultrasound critical-angle reflectometry (UCR) is useful in ultrasonic non-destructive testing (NDT) and medical ultrasound for the estimation of anisotropy in media. Therefore, there is a conflict between using critical-angle reflectometry (CR) in seismic exploration and applications of ultrasound. This study aims to find the reason as to why CR is useful in ultrasonic NDT and medical ultrasound but unreliable in seismic exploration for anisotropy estimation of media. The results of the study show that the critical angle can be accurately determined from the maximum amplitude of the reflections for a plane wave as used in ultrasonic NDT and medical ultrasound and thus the anisotropy of the medium can be successfully estimated by UCR. However, for the spherical waves used in seismic exploration, the maximum amplitude of the reflections is shifted towards post-critical offsets and the shift of the maximum amplitude relative to the critical point depends not only on the frequency and model parameters but also the azimuth. Therefore, SCR cannot currently be regarded as a reliable standalone method for the anisotropic parameter estimation of strata.
地震临界角反射法(SCR)很难作为地震勘探中地层各向异性参数估计的一种可靠的独立方法,而超声临界角反射法(UCR)在超声无损检测(NDT)和医用超声中对介质各向异性的估计是有用的。因此,在地震勘探中使用临界角反射法与超声波的应用存在矛盾。本研究旨在找出为什么CR在超声无损检测和医学超声中有用,而在地震勘探介质各向异性估计中不可靠的原因。研究结果表明,利用超声无损检测和医用超声中使用的平面波反射的最大振幅可以准确地确定临界角度,从而可以成功地估计介质的各向异性。然而,对于用于地震勘探的球面波,反射波的最大振幅向临界后偏移,最大振幅相对于临界点的偏移不仅取决于频率和模型参数,还取决于方位角。因此,SCR目前还不能作为地层各向异性参数估计的一种可靠的独立方法。
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引用次数: 0
Efficient Algebraic Image Reconstruction Technique for Computed Tomography 计算机断层成像的高效代数图像重建技术
Pub Date : 2022-06-01 DOI: 10.1784/insi.2022.64.6.326
R. Hanna, M. Sutcliffe, P. Charlton, S. Mosey
Industrial computed tomography (CT) has seen widespread adoption within certain areas of non-destructive testing (NDT), with many commercial systems capable of acquisition and reconstruction of cone-beam CT data. The majority of these systems utilise reconstruction algorithms based on the traditional filtered back-projection (FBP) methods, which are imperfect with respect to limited-angle cone-beam data. These techniques are also inherently restricted in the source trajectories that can be utilised due to the use of Fourier slice theorem. This restricts FBP-based techniques to a circular or helical trajectory. Iterative reconstruction algorithms provide a solution to these limitations as the volume reconstruction does not depend on the location or orientation of the source and detector, allowing the possibility of scanning trajectories that satisfy well-known CT data-sufficiency conditions. This paper proposes a method of reconstruction based on computationally efficient computer graphics algorithms with data collected from points in 3D space not restricted to a single circular trajectory, which is useful within NDT for automated robotic inspection. The algorithms developed allow for rapid processing of the algebraic reconstruction technique (ART) for use with X-ray transmission data for CT reconstruction. Experimental results are presented for reconstructions for circular trajectory and points on a sphere to demonstrate the suitability for NDT applications.
工业计算机断层扫描(CT)在某些无损检测(NDT)领域得到了广泛的应用,许多商业系统能够采集和重建锥束CT数据。这些系统中的大多数使用基于传统滤波反投影(FBP)方法的重建算法,这对于有限角度锥束数据来说是不完善的。由于使用傅里叶切片定理,这些技术在可以利用的源轨迹中也受到固有的限制。这将fbp技术限制在圆形或螺旋轨迹上。迭代重建算法为这些限制提供了解决方案,因为体积重建不依赖于源和检测器的位置或方向,允许满足众所周知的CT数据充足条件的扫描轨迹。本文提出了一种基于计算效率高的计算机图形学算法的重建方法,该方法从三维空间中的点收集数据,不局限于单个圆形轨迹,可用于自动机器人检测的无损检测。所开发的算法允许快速处理代数重建技术(ART),用于CT重建的x射线传输数据。给出了圆形轨迹和球面上点的重建实验结果,以证明该方法适合无损检测应用。
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引用次数: 1
Experimental Research on a Pipeline Through-wall Communication System Based on Extremely Low Frequency 基于极低频的管道穿壁通信系统实验研究
Pub Date : 2022-06-01 DOI: 10.1784/insi.2022.64.6.317
Ming Li, Weihong Li, Xiaoli Wang, Shimin Zhang, Xiaoxiao Zhu
The traditional fixed-point operation robot of natural gas pipeline uses cable as the medium to realise the throughwall communication. However, with the increase of working distance, problems such as increasing cable weight or friction force with the pipeline wall will prevent the work from continuing and have a high potential risk. In order to solve this problem, this paper puts forward an overall design of the through-wall communication using the extremely low-frequency (ELF) electromagnetic wave with strong penetration ability. Firstly, a model of the solenoid transmitting coil is established using the Maxwell finite element simulation module to simulate the distribution of the extremely lowfrequency electromagnetic field. Then, the influence of different factors such as environment and medium on magnetic field intensity are analysed. With STM32F405 as the main control chip and AD9959 as the transmitting signal source, the hardware circuit of the communication system is built. At the same time, an experimental test of the ELF communication system is carried out and the experimental results show that the designed through-wall communication system can achieve good communication inside and outside the tube. The communication distance along the radial direction of the tube can reach 140 cm, which can meet the communication needs of fixed-point operation of the robot in the tube.
传统的天然气管道定点作业机器人采用电缆作为介质实现通壁通信。然而,随着工作距离的增加,电缆重量增加或与管壁摩擦力增加等问题会使工作无法继续进行,具有很高的潜在风险。为了解决这一问题,本文提出了一种利用极低频(ELF)强穿透能力电磁波进行穿墙通信的总体设计方案。首先,利用Maxwell有限元仿真模块建立了电磁发射线圈的模型,对极低频电磁场的分布进行了仿真。分析了环境、介质等不同因素对磁场强度的影响。以STM32F405为主控芯片,AD9959为发射信号源,搭建了通信系统的硬件电路。同时,对该极低频通信系统进行了实验测试,实验结果表明,所设计的通壁通信系统能够实现良好的管内外通信。沿管道径向通信距离可达140 cm,可满足机器人在管道内定点操作的通信需求。
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引用次数: 0
Experimental Analysis of the Piezomagnetic Properties of Ferromagnetic Steels Subjected To Cyclic Tensile Stress 循环拉应力作用下铁磁性钢压磁性能的实验分析
Pub Date : 2022-06-01 DOI: 10.1784/insi.2022.64.6.334
S. Bao, Y. Li, Zhengye Zhao, Tao Jiang, H. Lou
The objective of this research is to investigate the evolution of the piezomagnetic field of 30CrNiMo8 steel under cyclic tensile stress with variable amplitudes and asymmetrical cyclic tensile stress. The piezomagnetic field signal of an initially undemagnetised 30CrNiMo8 steel specimen was recorded simultaneously during the whole loading process. It was found that the magnetic field variation is in contrast to the variation of the applied stress during the elastic stage. However, the magnetic field variation started to be consistent with the variation of the applied stress when approaching and entering the plastic stage. A reasonable explanation was given for understanding this phenomenon. The Villari reversal point and the tail reversal point occurred during the plastic stage, which can be used to characterise the transition state from the elastic to plastic stage. The variations of the Villari reversal point and the tail reversal point under cyclic tensile stress with variable amplitudes were slightly different from those under asymmetrical cyclic tensile stress.
本研究的目的是研究30CrNiMo8钢在变幅循环拉应力和不对称循环拉应力作用下的压磁场演变。同时记录了30CrNiMo8钢初始未退磁试样在整个加载过程中的压磁场信号。结果表明,在弹性阶段,磁场的变化与外加应力的变化是一致的。然而,当接近并进入塑性阶段时,磁场的变化开始与外加应力的变化一致。对理解这一现象给出了合理的解释。Villari反转点和tail反转点出现在塑性阶段,可以用来表征从弹性阶段到塑性阶段的过渡状态。变幅循环拉应力作用下Villari反转点和尾反转点的变化与非对称循环拉应力作用下略有不同。
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引用次数: 0
In-situ Phase Analysis of Large Inclusions By Combining Computed Tomography And Energy-selective X-ray Diffraction 结合计算机断层扫描和能量选择x射线衍射的大型夹杂物原位物相分析
Pub Date : 2022-06-01 DOI: 10.1784/insi.2022.64.6.349
Jiqing Cai, Huan Wang, Kun Wang, Ling Qin, P. Zhang
The accurate positions of large inclusions in bulk metal can be determined using a computed tomography system but phase information for these inclusions cannot be obtained by the computed tomography method. In-situ phase information for internal material could be non-destructively obtained by an energy-selective diffraction system; however, it is necessary to place the inclusion in the centre of the diffraction area to ensure that the obtained diffraction signal comes from the inclusion material rather than the base material, which is difficult without appropriate non-destructive testing methods. In-situ phase information for large inclusions in the bulk metal could, in principle, be obtained by combining computed tomography and energy-selective X-ray diffraction (ESXRD) in one instrument. In this research, an X-ray analysis device with this capability is built. The computed tomography system and the energy-selective diffraction system share the same tungsten target X-ray source, motion system and spatial coordinates. A simulated sample containing inclusions is fabricated with a diameter of 20 mm and a height of 20 mm. The base material of the simulated sample is aluminium and the inclusions are α-Al2 O3 ceramic spheres with diameters of 1.5 mm, 2.5 mm, 3.5 mm and 5 mm. The diffraction information of some inclusions embedded in the simulated sample is successfully obtained using the combination instrument and the factors affecting the diffraction signal of the inclusions are analysed.
大块金属中大型夹杂物的精确位置可以用计算机断层扫描系统确定,但这些夹杂物的相信息不能用计算机断层扫描方法获得。利用能量选择衍射系统可以无损地获得内部材料的原位相位信息;但是,必须将夹杂物放置在衍射区域的中心,以确保获得的衍射信号来自夹杂物材料而不是基材,如果没有适当的无损检测方法,这是很难做到的。原则上,通过将计算机断层扫描和能量选择x射线衍射(ESXRD)结合在一台仪器上,可以获得大块金属中大型夹杂物的原位相信息。在这项研究中,建立了一个具有这种能力的x射线分析装置。计算机层析成像系统和能量选择衍射系统具有相同的钨靶x射线源、运动系统和空间坐标。制备了直径为20mm、高度为20mm的含夹杂物模拟样品。模拟样品的基材为铝,夹杂物为α- al2o3陶瓷球,直径分别为1.5 mm、2.5 mm、3.5 mm和5mm。利用该组合仪器成功获取了模拟样品中包裹体的衍射信息,并分析了包裹体衍射信号的影响因素。
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引用次数: 0
期刊
Insight - Non-Destructive Testing and Condition Monitoring
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