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Research on the stability prediction for multi-posture robotic side milling based on FRF measurements 基于 FRF 测量的多姿态机器人侧铣稳定性预测研究
Pub Date : 2024-05-22 DOI: 10.1088/1361-6501/ad4ab7
Ci Song, Zhibing Liu, Xibin Wang, Tianyang Qiu, Zhiqiang Liang, Wenhua Shen, Yuhang Gao, Senjie Ma
In robotic side milling, frequent chatter extremely restricts the acquisition of high surface quality due to weak stiffness, and cutting parameters optimization guided by stability boundary is regarded as an effective solution to solve the chatter problem. In this research, the influence mechanisms of stability were analyzed by evaluating the structural static stiffness and dynamic parameters, and the main factor was characterized as regenerative chatter by means of stability measurements and the theoretical prediction model. The distance-driven multi-posture frequency response function (FRF) prediction model was improved in terms of the dominant modal. Grey correlation analysis was carried out to investigate the influence law of robotic joints to modal parameters, and the difference between far-distance posture and near-distance posture was re-characterized by cross-validation of FRF measurements. Finally, the third-order Hermite–Newton approximation was employed to solve the dynamic model by considering process damping effect, and the results showed the prediction accuracy of the constructed stability boundary was over 85%.
在机器人侧铣加工中,由于刚度较弱,频繁的颤振极大地限制了高表面质量的获得,而以稳定性边界为指导的切削参数优化被认为是解决颤振问题的有效方案。本研究通过评估结构静态刚度和动态参数,分析了稳定性的影响机理,并通过稳定性测量和理论预测模型,将主要因素定性为再生颤振。从主要模态方面改进了距离驱动多姿态频率响应函数(FRF)预测模型。通过灰色关联分析研究了机器人关节对模态参数的影响规律,并通过对 FRF 测量值的交叉验证重新描述了远距离姿态和近距离姿态之间的差异。最后,考虑过程阻尼效应,采用三阶赫米特-牛顿近似法求解动态模型,结果表明所构建的稳定边界的预测精度超过 85%。
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引用次数: 0
Design and Construction of an Affordable Optical Power Meter: Micro- to Milli-Watt in the 400-800 nm Range 设计和制造经济实惠的光功率计:400-800 纳米范围内从微瓦到毫瓦的光功率计
Pub Date : 2024-05-22 DOI: 10.1088/1361-6501/ad4f04
Juracy Leandro dos Santos Júnior, Ian Ribeiro Andrade, Lucas Henrique Pereira Silva, Luis Abegao
This study introduces the design, construction, and evaluation of an affordable optical power meter prototype, AYR (Affordable Yet Reliable) version 1.0, which operates effectively within the 400-800 nm range, using a silicon photodiode. Aimed at bridging the gap in accessibility to precise and reliable photonics instrumentation, especially in resource-constrained settings, AYR 1.0 leverages advancements in photodiode technology, additive manufacturing, and do-it-yourself electronics. The device incorporates a custom-built electronic circuit that facilitates accurate optical power measurement by converting light into electrical current. Through rigorous testing against a reliable commercial optical power meter, AYR 1.0 demonstrated exceptional accuracy and reliability. Sensitivity values ranged from ~13 µA/mW at 405 nm to ~796 µA/mW at 805 nm. The operational power range spanned from 0.003 mW to 242.0 mW, with linearity (R²) values consistently above 0.9981, indicating high fidelity in measurement. Repeatability percentages varied between 99.4% and 99.9%, and response times ranged up to 55 µs, showcasing the prototype's rapid and reliable response to changes in optical power. The key components include a low-cost silicon photodiode (2DU10), a differential trans-impedance amplifier circuit for signal processing, and a 3D-printed housing for the sensor head and console, contributing to its cost-effectiveness and robustness. The prototype's total cost was 116 US dollars, highlighting its affordability and potential for widespread adoption.
本研究介绍了一种经济实惠的光功率计原型 AYR(Affordable Yet Reliable)1.0 版的设计、制造和评估,该原型使用硅光电二极管在 400-800 nm 范围内有效工作。AYR 1.0 利用光电二极管技术、增材制造和自己动手电子技术的进步,旨在缩小在获得精确可靠的光子仪器方面的差距,尤其是在资源有限的环境中。该设备集成了一个定制的电子电路,通过将光转换为电流来实现精确的光功率测量。通过与可靠的商用光功率计进行严格测试,AYR 1.0 显示出卓越的准确性和可靠性。灵敏度值从 405 纳米波段的 ~13 µA/mW 到 805 纳米波段的 ~796 µA/mW。工作功率范围从 0.003 mW 到 242.0 mW,线性度 (R²) 值始终高于 0.9981,表明测量的高保真性。重复性介于 99.4% 和 99.9% 之间,响应时间长达 55 µs,展示了原型对光功率变化的快速、可靠响应。其关键部件包括一个低成本硅光电二极管(2DU10)、一个用于信号处理的差分跨阻放大器电路,以及一个用于传感器头和控制台的 3D 打印外壳,从而提高了其成本效益和坚固性。该原型的总成本为 116 美元,突出了其经济性和广泛采用的潜力。
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引用次数: 0
Review of research on signal decomposition and fault diagnosis of rolling bearing based on vibration signal 基于振动信号的滚动轴承信号分解与故障诊断研究综述
Pub Date : 2024-05-22 DOI: 10.1088/1361-6501/ad4eff
Junning Li, Wenguang Luo, Mengsha Bai
Rolling bearings are critical components that are prone to faults in the operation of rotating equipment. Therefore, it is of utmost importance to accurately diagnose the state of rolling bearings. This review comprehensively discusses classical algorithms for fault diagnosis of rolling bearings based on vibration signal, focusing on three key aspects: data preprocessing, fault feature extraction, and fault feature identification. The main principles, key features, application difficulties, and suitable occasions for various algorithms are thoroughly examined. Additionally, different fault diagnosis methods are reviewed and compared using the Case Western Reserve University (CWRU) bearing dataset. Based on the current research status in bearing fault diagnosis, future development directions are also anticipated. It is expected that this review will serve as a valuable reference for researchers aiming to enhance their understanding and improve the technology of rolling bearing fault diagnosis.
滚动轴承是旋转设备运行中容易出现故障的关键部件。因此,准确诊断滚动轴承的状态至关重要。本综述围绕数据预处理、故障特征提取和故障特征识别三个关键方面,全面讨论了基于振动信号的滚动轴承故障诊断经典算法。深入研究了各种算法的主要原理、关键特征、应用难点和适用场合。此外,还使用凯斯西储大学(CWRU)轴承数据集对不同的故障诊断方法进行了回顾和比较。根据轴承故障诊断的研究现状,还展望了未来的发展方向。希望这篇综述能为研究人员提供有价值的参考,帮助他们提高对滚动轴承故障诊断技术的理解和改进。
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引用次数: 0
A stable and robust fault diagnosis method for bearing using lightweight batch normalization-free residual network 利用轻量级批量无归一化残差网络的轴承稳定鲁棒故障诊断方法
Pub Date : 2024-05-22 DOI: 10.1088/1361-6501/ad4f01
Bao Zhu, Chunmeng He
The conventional deep learning-based bearing fault diagnosis method tend to utilize denoising modules to improve the fault diagnosis performance in noisy scenes. However, the addition of denoising modules will increase expensive computational costs, leading to a delayed acquisition of fault diagnosis results. This work proposed a lightweight batch normalization-free residual network without any denoising modules for bearing fault diagnosis which properly rescaled the weights in a standard initialization instead of batch normalization to avoid the exploding gradient problem and vanishing gradient problem at the beginning of training for deep neural networks. Therefore, it prevents the undesirable properties caused by batch normalization. Compared with other methods, the fault diagnosis performance of the proposed method can maintain a high level with different input sizes and batch sizes. Especially in noisy scenes, the testing accuracy of fault diagnosis on different bearing datasets can be improved by 13.54% and 7.74% using fewer parameters and FLOPs on different bearing datasets.
传统的基于深度学习的轴承故障诊断方法倾向于利用去噪模块来提高噪声场景下的故障诊断性能。然而,增加去噪模块会增加昂贵的计算成本,导致故障诊断结果的获取延迟。本研究提出了一种用于轴承故障诊断的无任何去噪模块的轻量级批量归一化残差网络,该网络在标准初始化中对权值进行了适当的重定向,而不是批量归一化,从而避免了深度神经网络在训练初期的梯度爆炸问题和梯度消失问题。因此,它避免了批量归一化带来的不良特性。与其他方法相比,所提方法的故障诊断性能能在不同输入大小和批量大小的情况下保持较高水平。特别是在噪声场景下,使用较少的参数和 FLOPs 对不同轴承数据集进行故障诊断,其测试精度分别提高了 13.54% 和 7.74%。
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引用次数: 0
Research on online monitoring method for time-varying tension in transmission lines based on operational modal response 基于运行模态响应的输电线路时变张力在线监测方法研究
Pub Date : 2024-05-22 DOI: 10.1088/1361-6501/ad4bff
Zhicheng Liu, Long Zhao, Guanru Wen, Jingyao Wang, Jiameng Wang, Xinbo Huang
The cumulative overload of conductor tension under severe weather conditions is an important cause of accelerated fatigue fracture of transmission lines. Traditional tension measurement methods require the replacement of ball head hanging rings, which poses safety risks. In this paper, a method for monitoring conductor tension based on acceleration data under operating conditions is proposed. Firstly, a modal order extraction based method for identifying the modal frequencies of conductor operation is proposed, and then the time-varying tension of the conductor is estimated based on the instantaneous modal frequencies. Since this method directly installs sensors on the conductor, there is a certain error in the obtained intrinsic characteristic data of the conductor. Therefore, a modal correction method is used to remove the influence of the sensors. The accuracy of modal identification, modal correction, and tension identification methods is verified through finite element models. Based on the above methods, a monitoring system for conductor tension status is designed, and the feasibility of this system is verified through experiments. Finally, the vibration data obtained from the field engineering pilot test is successfully used for conductor tension analysis. The results show that the proposed method can effectively identify time-varying tension and provide a new approach for monitoring the status of transmission line conductors.
恶劣天气条件下导体张力的累积过载是导致输电线路加速疲劳断裂的重要原因。传统的张力测量方法需要更换球头吊环,存在安全隐患。本文提出了一种基于运行条件下加速度数据的导线张力监测方法。首先,提出一种基于模态阶次提取的方法来识别导体运行的模态频率,然后根据瞬时模态频率估算导体的时变张力。由于该方法直接在导体上安装传感器,因此获得的导体固有特性数据存在一定误差。因此,需要使用模态修正方法来消除传感器的影响。模态识别、模态修正和张力识别方法的准确性通过有限元模型得到验证。基于上述方法,设计了导线张力状态监测系统,并通过实验验证了该系统的可行性。最后,现场工程试验获得的振动数据被成功用于导体张力分析。结果表明,所提出的方法能有效识别时变张力,为输电线路导体状态监测提供了一种新方法。
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引用次数: 0
An End-to-end Learning Framework for Visual Camera Relocalization Using RGB and RGB-D Images 使用 RGB 和 RGB-D 图像进行视觉相机重定位的端到端学习框架
Pub Date : 2024-05-22 DOI: 10.1088/1361-6501/ad4f02
Kai Zhang, Xiaolin Meng, Qing Wang
Camera relocalization plays a vital role in the realms of machine perception, robotics, and augmented reality. Direct learning methods based on structures can have a learning-based approach that can learn scene coordinates and use them for camera position estimation. However, the two-stage learning of scene coordinate regression and camera position estimation can result in some of the scene coordinate regression knowledge being lost throughout the learning process of the final pose estimation system, thereby reducing the accuracy of the pose estimation. This paper introduces an innovative end-to-end learning framework tailored for visual camera relocalization by employing both RGB and RGB-D images. Distinguished by its integration of scene coordinate regression with pose estimation into a concurrent inner and outer loop during a singular training phase, this framework notably enhances pose estimation accuracy. Engineered for flexibility, it accommodates training with or without depth cues and necessitates merely a single RGB image during testing. Empirical evaluation substantiates the proposed method's state-of-the-art precision, attaining an average pose accuracy of 0.019m and 0.74º on the indoor 7Scenes dataset, together with 0.162m and 0.30º on the outdoor Cambridge Landmarks dataset.
摄像头重新定位在机器感知、机器人和增强现实等领域发挥着重要作用。基于结构的直接学习方法可以采用基于学习的方法,学习场景坐标并将其用于相机位置估计。然而,场景坐标回归和相机位置估计的两阶段学习可能会导致部分场景坐标回归知识在最终姿态估计系统的整个学习过程中丢失,从而降低姿态估计的准确性。本文介绍了一种创新的端到端学习框架,该框架采用 RGB 和 RGB-D 图像,专为视觉相机重新定位而量身定制。该框架在单一训练阶段将场景坐标回归与姿态估计整合为一个并发的内外循环,从而显著提高了姿态估计的准确性。该框架设计灵活,可在有深度线索或无深度线索的情况下进行训练,测试时只需一张 RGB 图像。实证评估证实了所提出方法的一流精度,在室内 7Scenes 数据集上达到了 0.019 米和 0.74º 的平均姿势精度,在室外剑桥地标数据集上达到了 0.162 米和 0.30º 的平均姿势精度。
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引用次数: 0
An object detection method for catenary component images based on improved Faster R-CNN 基于改进型快速 R-CNN 的导管组件图像目标检测方法
Pub Date : 2024-05-22 DOI: 10.1088/1361-6501/ad4c01
Changdong Wu, Xu He, Yanliang Wu
Catenary components are an important part of electrified railways. Especially for catenary support devices, there are various types of components with significant differences in scale. According to statistical data, there is a high risk of failure for the catenary support device components during the operation of the catenary system. Therefore, in order to ensure the safe operation of the railways, it is critical to accurately locate and recognize the components in the catenary images. In this paper, we propose an improved method based on faster region-based convolutional neural networks (Faster R-CNN) framework to realize the detection and extraction of the components on the catenary support devices. Firstly, the anchor box parameters are reset using the K-means clustering method, which greatly improves the localization precision of the predicted box. Secondly, scaled exponential linear units activation function is introduced to improve the algorithm performance. Moreover, ResNet-34, the backbone of Faster R-CNN, is optimized. We design a transition structure for multi-scale filter combination convolution to avoid missing feature information and eliminate some redundant convolution structures. This modification substantially enhances the capability of the model to recognize a wide variety of component types. Finally, we conduct some control experiments comparing with single shot multibox detector and you only look once (YOLO) series (YOLOv3, YOLOv5 and YOLOv7) models. They are faster but less accurate, especially for small objects. The results show that the proposed method has better detection performance, achieving a mean average precision of 96.50% and running at 17.79 frames per second. In addition, our model has the highest average recall of 69.27%, which is 2.66% higher than the original model.
导轨部件是电气化铁路的重要组成部分。特别是导轨支撑装置,其部件种类繁多,规模差异巨大。据统计,在轨道系统运行过程中,导轨支撑装置部件发生故障的风险很高。因此,为了确保铁路的安全运行,准确定位和识别导轨图像中的部件至关重要。本文提出了一种基于更快区域卷积神经网络(Faster R-CNN)框架的改进方法,以实现对导轨支撑装置上部件的检测和提取。首先,利用 K-means 聚类方法重置锚箱参数,从而大大提高了预测箱的定位精度。其次,引入比例指数线性单元激活函数来提高算法性能。此外,对 Faster R-CNN 的骨干 ResNet-34 进行了优化。我们设计了多尺度滤波器组合卷积的过渡结构,避免了特征信息的缺失,并消除了一些冗余卷积结构。这一修改大大增强了模型识别各种组件类型的能力。最后,我们进行了一些对照实验,比较了单次多箱检测器和只看一次(YOLO)系列(YOLOv3、YOLOv5 和 YOLOv7)模型。它们的速度更快,但精度较低,尤其是对小物体而言。结果表明,所提出的方法具有更好的检测性能,平均精度达到 96.50%,运行帧数为每秒 17.79 帧。此外,我们的模型平均召回率最高,达到 69.27%,比原始模型高出 2.66%。
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引用次数: 0
A data fusion-based approach for structural damage detection with distributed long-gauge strain measurements 基于数据融合的分布式长规应变测量结构损伤检测方法
Pub Date : 2024-05-22 DOI: 10.1088/1361-6501/ad4f03
Zhenwei Zhou, Kaiqing Ding, Wangwang Fang, Wang Shen, Yanchao Shao, Bitao Wu
Distributed long gauge strain sensing technology has solved the problem of difficult identification of local damage in traditional "point" monitoring, and has received extensive attention in the field of structural damage identification. Owing to the inevitable presence of measurement noise and environmental factors in the macro strain response measurement, a single damage index has also underlined some drawbacks generally arising when multiple damages occur, or errors affect the identified dynamic properties of the systems. To address these challenges, this paper proposes a data fusion method based on the Dempster-Shafer evidence theory, relying on distributed strain sensing technology. The identification results of the modal macro strain-based index and quasi-static macro strain energy-based damage index are fused to make a comprehensive decision on structural damage location. Damage identification studies are conducted on different types of structures under impact loads and random wind loads to verify the effectiveness and accuracy of the proposed data fusion method in the case of single and multiple damage conditions. The results show that the proposed data fusion method can accurately identify the damage location and effectively reduce misjudgement on undamaged locations; it has potential application value in practical structural health monitoring.
分布式长规应变传感技术解决了传统 "点式 "监测中难以识别局部损伤的问题,在结构损伤识别领域受到广泛关注。由于宏观应变响应测量中不可避免地存在测量噪声和环境因素,当出现多个损伤或误差影响系统的识别动态特性时,单一的损伤指数也凸显出一些弊端。为解决这些难题,本文提出了一种基于 Dempster-Shafer 证据理论的数据融合方法,依托分布式应变传感技术。将基于模态宏观应变的损伤指数和基于准静态宏观应变能量的损伤指数的识别结果进行融合,从而综合判定结构损伤位置。在冲击荷载和随机风荷载作用下,对不同类型的结构进行了损伤识别研究,以验证所提出的数据融合方法在单损伤和多损伤情况下的有效性和准确性。结果表明,所提出的数据融合方法能够准确识别损坏位置,并有效减少对未损坏位置的误判,在实际结构健康监测中具有潜在的应用价值。
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引用次数: 0
A novel approach for state-of-charge estimation of lithium-ion batteries by quasi-static component generation of ultrasonic waves 通过超声波准静态分量生成估算锂离子电池充电状态的新方法
Pub Date : 2024-05-21 DOI: 10.1088/1361-6501/ad4e54
Xinyi Yuan, Yiyu Wang, Weibin Li, Mingxi Deng
Lithium-ion batteries content complex internal components, such as porous media and electrolytes, which result in strong scattering and high attenuation of ultrasonic waves in these batteries. The low attenuative feature of the quasi-static components (QSC) of ultrasonic waves offers great potential for nondestructive assessment of highly attenuating and porous materials. This paper presents an innovative approach for estimating the state-of-charge (SOC) of lithium-ion batteries using QSC of ultrasonic waves. Experimental results demonstrate a clear and repeatable linear relationship between the amplitudes of the generated QSC and the SOC of lithium-ion batteries. In addition, the relationships between different SOCs of the battery and the conventional linear ultrasonic parameters, second harmonic generation (SHG), and the QSC were compared to verify the improved sensitivity of the proposed approach. Notably, compared to linear ultrasonic features and the SHG, the generated QSC shows much higher sensitivity to the variations of SOC. We employ the phase-reversal method to further enhance the signal-to-noise ratio (SNR) of measured QSC signals. The experimental results demonstrate that the proposed method exhibits a heightened sensitivity to changes in the SOC of batteries, resulting in significantly enhanced detection accuracy and resolution. This method effectively addresses the deficiencies observed in the current detection methods such as limited accuracy and sluggish response times. This method provides a new solution to overcome this challenge. Meanwhile, it also confirms that nonlinear ultrasound promises an alternative method for SOC assessment, providing a foundation for efficient and safe battery management practices.
锂离子电池含有复杂的内部组件,如多孔介质和电解质,这导致超声波在这些电池中的强散射和高衰减。超声波准静态成分 (QSC) 的低衰减特性为高衰减和多孔材料的无损评估提供了巨大潜力。本文介绍了一种利用超声波准静态分量估算锂离子电池充电状态(SOC)的创新方法。实验结果表明,所产生的 QSC 振幅与锂离子电池的 SOC 之间存在清晰且可重复的线性关系。此外,还比较了电池的不同 SOC 与传统线性超声波参数、二次谐波发生(SHG)和 QSC 之间的关系,以验证所提方法提高了灵敏度。值得注意的是,与线性超声波特征和 SHG 相比,生成的 QSC 对 SOC 变化的灵敏度要高得多。我们采用相位反转方法进一步提高了测量 QSC 信号的信噪比(SNR)。实验结果表明,所提出的方法对电池 SOC 的变化具有更高的灵敏度,从而显著提高了检测精度和分辨率。该方法有效解决了当前检测方法中存在的缺陷,如精度有限和响应时间缓慢。该方法为克服这一挑战提供了新的解决方案。同时,它还证实了非线性超声有望成为 SOC 评估的替代方法,为高效、安全的电池管理实践奠定基础。
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引用次数: 0
Cyclostationarity and real order derivatives in roller bearing fault detection 滚子轴承故障检测中的循环静力学和实阶导数
Pub Date : 2024-05-21 DOI: 10.1088/1361-6501/ad4e57
K. Karioja, Riku-Pekka Nikula, Juhani Nissilä
Various methods are used in the field of machine diagnostics for recognizing cyclostationarity in signals. The real order derivatives of vibration signals, however, have been rarely reported from the perspective of their effect on the performance of cyclostationarity detection methods. In this paper, we use real order derivatives together with spectral correlation, spectral coherence and squared envelope. Our results suggest that adjusting the order of derivative can enhance the analysis outcome of spectral correlation and squared envelope in particular. Remarkably, the results also suggest that squared envolope, when used alongside real-order derivatives, may replace spectral correlation and spectral coherence. This approach allows obtaining results with reduced computational power, making it advantageous for applications like industrial edge computing where cost-effective hardware is crucial.
机器诊断领域使用了各种方法来识别信号中的周期静力。然而,振动信号的实阶导数对周期静止检测方法性能的影响却鲜有报道。在本文中,我们将实阶导数与频谱相关性、频谱一致性和平方包络一起使用。我们的结果表明,调整导数的阶数尤其能增强频谱相关性和平方包络的分析结果。值得注意的是,结果还表明,与实阶导数一起使用时,平方包络可以取代光谱相关性和光谱相干性。这种方法可以在降低计算能力的情况下获得结果,因此非常适合工业边缘计算等对硬件成本效益要求较高的应用。
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引用次数: 0
期刊
Measurement Science and Technology
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