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IEEE Conference on Industrial Electronics and Applications

作者： Wenji Jia Guilin Yang Chi Zhang Guodong Chen Chinese Academy of Sciences Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology Ningbo China Jiangsu Provincial Key Laboratory of Advanced Robotics Soochow University Suzhou China

This paper presents a novel dynamic modelling approach for omnidirectional mobile robots with Powered Caster Wheels (PCWs). With the conventional dynamic model, the internal forces induced by the redundant PCWs cannot be computed and controlled, which will significantly reduce the driving efficiency and result in unstable robot motions. To eliminate the internal forces, a general nonsqueezing load distribution model is proposed and integrated with the dynamic model of the mobile robot. By this new dynamic model, the driving force applied by each PCW is distributed as evenly as possible without inducing any internal forces. To illustrate the proposed dynamic modeling method, a computation example is provided.

关键词： Omnidirectional mobile robot Load distribution Dynamic model

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Distributed API protocol mining 29

Distributed API protocol mining

引用

29th International Conference on Software Engineering and Knowledge Engineering, SEKE 2017

作者： Chen, Deng Zhang, Yanduo Wei, Wei Wang, Rongcun Li, Xiaolin Wang, Shixun Huang, Rubing Hubei Provincial Key Laboratory of Intelligent Robot Wuhan Institute of Technology Wuhan China School of Computer Science and Technology China University of Mining and Technology Xuzhou China School of Computer and Information Engineering Henan Normal University Xinxiang China School of Computer Science and Telecommunication Engineering Jiangsu University Zhenjiang China

ISBN: (纸本)1891706411

Dynamic Protocol Mining (DPM) techniques are a promising approach to infer useful API protocols automatically. However, their results are biased to input test cases and the instrumentation overhead discounts their usability in industrial practice. In this paper, we propose a distributed dynamic protocol mining framework NSpecMiner. Our framework is based on a client-server architecture, where the client tracer gathers Program Execution Traces (PETs) and sends them to the server for mining. Mined protocols are saved on the server to provide various kinds of remote services, such as API protocol retrieval and program verification, etc. Compared with local miners, NSpecMiner has many advantages: 1) A large number of diverse PETs are likely to be collected from multiple clients, which is essential for mining accurate and complete API protocols. 2) Instrumentation overhead can be balanced among multiple clients. 3) Via integrating the client tracer into widely used software, we can mine API protocols transparently and automatically without any human effort. To evaluate our technique, we performed a comparison test with a local miner ISpecMiner and NSpecMiner. Preliminary results show that our approach is effective to mine useful API protocols as local miners. While our method is able to gather PETs concurrently from multiple clients and other merits of the distributed technology will further benefit DPM significantly.

关键词： Miners

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Fractal characterization of the oxidation structure in ZrB2-SiC composite after thermal shocks

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IOP Conference Series: Materials Science and Engineering 2019年第1期531卷

作者： F Qi S H Meng P Wu H Guo D Zhao T Chen School of Mechanical and Electric Engineering & Collaborative Innovation Center of Suzhou Nano Science and Technology Soochow University Suzhou 215021 China Science and Technology on Advanced Composites in Special Environment Laboratory Harbin Institute of Technology Harbin 150080 China Artificial Organ Laboratory Bio-manufacturing Research Centre School of Mechanical and Electric Engineering Soochow University Suzhou 215021 China Jiangsu Provincial Key Laboratory of Advanced Robotics & Robotics and Microsystems Center Soochow University Suzhou 215021 China

The effect of the oxidation structure on the residual strength of ZrB2-SiC composite after repeated thermal shocks was investigated. The silica-rich glasses on the oxidation surface and pores in the oxidation layer were characterized using the fractal geometry method. Their fractal dimensions were calculated by Box-counting method. The increase of silica-rich glasses and the decrease of pores contributed to the increase of the residual strength of ZrB2-SiC after thermal shocks.

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Possible Pairing Symmetry in the FeSe-Based Superconductors Determined by Quasiparticle Interference

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Physical Review Letters 2018年第26期121卷 267005-267005页

作者： Yi Gao (高绎) Yuting Wang (王雨婷) Tao Zhou (周涛) Huaixiang Huang (黄怀湘) Qiang-Hua Wang (王强华) Center for Quantum Transport and Thermal Energy Science School of Physics and Technology Nanjing Normal University Nanjing 210023 China Jiangsu Key Lab on Opto-Electronic Technology School of Physics and Technology Nanjing Normal University Nanjing 210023 China Guangdong Provincial Key Laboratory of Quantum Engineering and Quantum Materials and School of Physics and Telecommunication Engineering South China Normal University Guangzhou 510006 China Department of Physics Shanghai University Shanghai 200444 China National Laboratory of Solid State Microstructures & School of Physics Nanjing University Nanjing 210093 China Collaborative Innovation Center of Advanced Microstructures Nanjing 210093 China

We study the momentum-integrated quasiparticle interference (QPI) in the FeSe-based superconductors. This method was recently proposed theoretically and has been applied to determine the pairing symmetry in these materials experimentally. Our findings suggest that, if the incipient bands and the superconducting (SC) pairing on them are taken into consideration, then the experimentally measured bound states and momentum-integrated QPI can be well fitted, even if the SC order parameter does not change sign on the Fermi surfaces. Therefore, we offer an alternative explanation to the experimental data, calling for more careful identification of the pairing symmetry that is important for the pairing mechanism.

关键词： Multiband superconductivity Chalcogenides Iron-based superconductors Pnictides

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Topological Phase Transition-Induced Tri-Axial Vector Magnetoresistance in (Bi1-xInx)2Se3 Nanodevices

arXiv

引用

arXiv 2018年

作者： Zhang, Minhao Wang, Huaiqiang Mu, Kejun Wang, Pengdong Niu, Wei Zhang, Shuai Xiao, Guiling Chen, Yequan Tong, Tong Fu, Dongzhi Wang, Xuefeng Zhang, Haijun Song, Fengqi Miao, Feng Sun, Zhe Xia, Zhengcai Wang, Xinran Xu, Yongbing Wang, Baigeng Xing, Dingyu Zhang, Rong National Laboratory of Solid State Microstructures Jiangsu Provincial Key Laboratory of Advanced Photonic and Electronic Materials School of Electronic Science and Engineering Nanjing University Nanjing210093 China National Laboratory of Solid State Microstructures School of Physics Nanjing University Nanjing210093 China National Synchrotron Radiation Laboratory University of Science and Technology of China Hefei230029 China Wuhan National High Magnetic Field Center Huazhong University of Science and Technology Wuhan430074 China Collaborative Innovation Center of Advanced Microstructures Nanjing University Nanjing210093 China

We report the study of a tri-axial vector magnetoresistance (MR) in nonmagnetic (Bi1-xInx)2Se3 nanodevices at the composition of x = 0.08. We show a dumbbell-shaped in-plane negative MR up to room temperature as well as a large out-of-plane positive MR. MR at three directions is about in a -3%: -1%: 225% ratio at 2 K. Through both the thickness and composition-dependent magnetotransport measurements, we show that the in-plane negative MR is due to the topological phase transition enhanced intersurface coupling near the topological critical point. Our devices suggest the great potential for room-temperature spintronic applications, for example, vector magnetic sensors. Copyright © 2018, The Authors. All rights reserved.

关键词： Nanostructured materials

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Global Dynamic Modeling of Electro-Hydraulic 3-UPS/S Parallel Stabilized Platform by Bond Graph

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Chinese Journal of Mechanical Engineering 2016年第6期29卷 1176-1185页

作者： ZHANG Lijie GUO Fei LI Yongquan LU Wenjuan Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan University Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University

Dynamic modeling of a parallel manipulator（PM） is an important issue. A complete PM system is actually composed of multiple physical domains. As PMs are widely used in various fields, the importance of modeling the global dynamic model of the PM system becomes increasingly prominent. Currently there lacks further research in global dynamic modeling. A unified modeling approach for the multi-energy domains PM system is proposed based on bond graph and a global dynamic model of the 3-UPS/S parallel stabilized platform involving mechanical and electrical-hydraulic elements is built. Firstly, the screw bond graph theory is improved based on the screw theory, the modular joint model is modeled and the normalized dynamic model of the mechanism is established. Secondly, combined with the electro-hydraulic servo system model built by traditional bond graph, the global dynamic model of the system is obtained, and then the motion, force and power of any element can be obtained directly. Lastly, the experiments and simulations of the driving forces, pressure and flow are performed, and the results show that, the theoretical calculation results of the driving forces are in accord with the experimental ones, and the pressure and flow of the first limb and the third limb are symmetry with each other. The results are reasonable and verify the correctness and effectiveness of the model and the method. The proposed dynamic modeling method provides a reference for modeling of other multi-energy domains system which contains complex PM.

关键词： screw bond graph multi-energy domains 3-UPS/S parallel mechanism electro-hydraulic servo system

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Non-contact optical super-resolution imaging study based on height-variable microsphere

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Journal of Physics: Conference Series 2018年第1期1074卷

作者： Kai Meng Shilin Gao Zhan Yang Huicong Liu Tao Chen Lining Sun Jiangsu Provincial Key Laboratory of Advanced Robotics & Collaborative Innovation Center of Suzhou Nano Science and Technology Soochow University Suzhou 215123 China

Super-resolution images can be achieved by coupling the microscale dielectric microsphere with white-light optical microscopy. This paper presented a method for adjusting the distance between microsphere and sample to study the imaging ability of the microsphere. By this method, the nanofeatures on the Blu-ray disc surface could be observed. The super-resolution images when microspheres at different heights were compared to analyse the changing trend of imaging ability with distance. The optical simulation results illustrated that super-resolution imaging ability was related to the position of the photonic nanojet. As the photonic nanojet was inside the sample, the super-resolution image could be achieved even if the microspheres didn't touch the sample. This work has great significance for manipulating microsphere to non-contact image.

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Large field-of-view super-resolution image obtained by manipulating submerged microsphere

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Journal of Physics: Conference Series 2018年第1期1074卷

作者： Shilin Gao Kai Meng Zhan Yang Huicong Liu Tao Chen Lining Sun Jiangsu Provincial Key Laboratory of Advanced Robotics & Collaborative Innovation Center of Suzhou Nano Science and Technology Soochow University Suzhou 215123 China

Images with super-resolution can be obtained by dielectric microspheres with appropriate refractive index. However, in practical applications, the microsphere must be moved to the desired position and can scan the large specific area. Here we present a simple method of positioning a microsphere by using a four-dimensional precision translation stage. The simulations have been performed to confirm that 16 μm barium titanate glass (BTG) microsphere submerged in alcohol can obtain high quality images and the influence of the probe and the flowing liquid on imaging can be ignored. Therefore, by driving the translation stage, the submerged microsphere can scan the sample surface along the X and Y axis at the speed of 10 μm/s and the large field-of-view image can be achieved by stitching the pictures of different positions. This work has provided a new technique in super-resolution imaging and can be widely applied in field of scientific research.

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Microstructure and mechanical properties of E36 steel joint welded by underwater wet welding

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China Welding 2016年第1期25卷 30-35页

作者：李洪亮刘多唐冬雁马蔷冯吉才 State Key Laboratory of Advanced Welding and Joining Harbin Institute of Technology Shandong Provincial Laboratory of Special Welding Technology Harbin Institute of Technology at Weihai Provincial Key Laboratory of Advanced Welding Technology Jiangsu University of Science and Technology Department of Chemistry Harbin Institute of Technology

The microstructure and mechanical properties of E36 steel joint welded by underwater welding using flux-cored wire are comprehensively investigated. The welding depth, welding current and welding voltage is 4 m, 130 A and 32 V, respectively. The weld metal is ferrite which varies in size, with carbide particles distributed on it, while the microstructure of HAZ is mixture of martensite of different size and some tempered structure. The microhardness of the weld metal is 190 HV. Almost all the tensile specimens fracture in weld metal and the average tensile strength of joint is 390 MPa, which is equal to 80% that of base metal. The tensile fracture morphology of joint presents obviously the characterization of brittle fracture, which displays the features of cleavage fracture and intergranular fracture.

关键词： underwater welding microstructure mechanical properties flux-cored wire

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A Method for Improving the Measurement Accuracy of Vehicle FMCW Radar

A Method for Improving the Measurement Accuracy of Vehicle F...

引用

IEEE International Conference on Cyber technology in Automation, Control, and Intelligent Systems

作者： Yue Guan Wei Li Liguo Chen Haibo Huang Xiaoxu Li Xiwei Gao Jiangsu Provincial Key Laboratory of Advanced Robotics & Collaborative Innovation Center of Suzhou Nano Science and Technology School of Mechanical and Electric Engineering Soochow University

ISBN: (纸本)9781538604915

According to the problem that the center frequency of the signal is not accurate, the result is inaccuracy. In view of this situation, the principle of measuring the range and velocity of the target using FMCW radars is studied, and then the beat signal is processed to improve the accuracy of the frequency estimation. This paper uses the window function for signal filtering in order to reduce the effect of leakage and fence effect;then FFT is used to find out the rough location of the target frequency;finally one-dimensional Gauss function is used to refine spectrum of FFT in order to get the estimated frequency. Matlab is used for simulation. Compared with different methods, the results show that the method of this paper can get a higher accuracy of the distance and speed values.

关键词： Window function FFT Gauss function Spectrum analysis window function Fast Fourier transform Gauss equation Spectrum Analysis accuracy of measurement BEAT SIGNALS center frequency frequency-modulated-continuous-wave radar signal filtering Frequency estimation

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