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Point cloud reconstruction and volume measurement method for dynamic bulk material flow

Measurement 2025年 254卷

作者： Chengcheng Hou Yongfei Kang Wei Qiao Huijie Dong Tiezhu Qiao College of Physics and Optoelectronics Engineering Taiyuan University of Technology Taiyuan 030024 China Key Laboratory of Advanced Transducers and Intelligent Control System Ministry of Education Taiyuan University of Technology Taiyuan 030024 China China Energy Baotou Energy Co. Ltd. Baotou 014000 China College of Mechanical and Vehicle Engineering Taiyuan University of Technology Taiyuan 030024 China

Accurate volume measurement of bulk material flow on belt conveyors is a key technology and prerequisite for energy-saving control and safe operation of transportation systems. This paper presents a novel method for dynamic volume measurement of bulk material flow based on point cloud reconstruction. The proposed method comprises three main components: bulk material flow area segmentation using an enhanced PointNet++ network with multi-scale feature extraction capabilities, three-dimensional reconstruction using the α-shape algorithm to construct complete enclosed point cloud spaces, and volume calculation based on Delaunay triangulation. Experimental validation on a laboratory-scale platform demonstrated that our method maintains robust performance across varying bulk material volumes and running speeds, with an average volume measurement accuracy exceeding 97 %. The method shows particular effectiveness in industrial transportation scenarios with non-uniform loading and variable speeds.

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Kinematic Modeling and Error Analysis of the Six Pole Parallel Robot

Kinematic Modeling and Error Analysis of the Six Pole Parall...

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2016 IEEE advanced Information Management,Communicates,Electronic and Automation control Conference(IMCEC 2016)

作者： ZHAO Xin-hua LUAN Qian-qian ZHAO Lei WANG Shou-jun GE Wei-min FAN Meng-ran Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronic System Tianjin University of Technology School of Mechanic Engineering

ISBN: (纸本)9781509001668

The parallel manipulator has some advantages of high accuracy,high speed and high stiffness *** makes up for the shortcomings of serial *** the parallel mechanism becomes a potential motion platform with high speed and high *** poles parallel robot improves these defects of more singularity,poor load capacity and low stiffness which exist in workspace of the classic plane five poles parallel *** and forward kinematic models are established based on the structure of the *** influence of foundation beds' location error,driving angle error and rod processing error on control accuracy is systematically *** theoretical foundation has been provided for realizing the optimal design of the robot and control in high accuracy.

关键词： high speed parallel robot kinematics error analysis

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Study on the High-Speed Penetration and Shear Failure Mechanism of Beach Sand

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Materials 2025年第9期18卷 1922-1922页

作者： Zhu, Jianzhong Li, Jiangquan Kong, Yun Dong, Mingming Li, Yuqiong Zou, Meng Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin300384 China Key Laboratory for Bionics Engineering of Education Ministry Jilin University Changchun130022 China School of Mechanical Engineering Beijing Institute of Technology Beijing100081 China Key Laboratory for Mechanics in Fluid Solid Coupling Systems Institute of Mechanics Chinese Academy of Sciences Beijing100190 China State Key Laboratory of Nonlinear Mechanics Institute of Mechanics Chinese Academy of Sciences Beijing100190 China Guangdong Aerospace Research Academy Nansha Guangzhou511458 China

In this paper, the contact parameters of beach sand are calibrated based on the discrete element method and the optimal design method, and the obtained parameters by calibration are used as input for the angle of repose simulation. The relative error between angle of repose simulation results and experimental results is 3.27%. Based on the penetration and shear tests, simulation models were constructed to study the pressure shear failure mechanism of beach sand under high-speed conditions. The high-speed penetration simulation shows that with the increase of the penetration rate, the influence area of the sinkage plate gradually increases, and the stress of sand particles also increases. When the penetration rate increased from 0.5 m/s to 8 m/s, the pressure on the plate increased 12.7 times, indicating that the bearing capacity of the sand increased significantly with the increase of the penetration rate. The high-speed shear simulation shows that in the stable shear stage, the average shear torque initially increases slightly with the increase of speed, and then decreases significantly when the speed exceeds 4 m/s. This is because as the shear rate increases, the disturbance of the soil by the shear plate increases, the velocity of soil particles increases, resulting in a decrease in the number of soil particles in contact with the shear plate, thereby reducing the shear torque. © 2025 by the authors.

关键词： Fracture mechanics

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Parallel Implementation of the Non-Overlapping Template Matching Test Using CUDA

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China Communications 2020年第8期17卷 234-241页

作者： Kaikai Li Jianguo Zhang Pu Li Anbang Wang Yuncai Wang Key Lab of Advanced Transducers and Intelligent Control System(Taiyuan University of Technology) Ministry of Education&Shanxi ProvinceTaiyuan 030024China College of Information Engineering Guangdong University of TechnologyGuangzhou 510006China Guangdong Provincial Key Laboratory of Photonics Information Technology Guangdong University of TechnologyGuangzhou 510006China

NIST(National Institute of Standards and Technology) statistical test recognized as the most authoritative is widely used in verifying the randomness of binary sequences. The Non-overlapping Template Matching Test as the 7 th test of the NIST Test Suit is remarkably time consuming and the slow performance is one of the major hurdles in the testing process. In this paper, we present an efficient bit-parallel matching algorithm and segmented scan-based strategy for execution on Graphics Processing Unit(GPU) using NVIDIA Compute Unified Device Architecture(CUDA). Experimental results show the significant performance improvement of the parallelized Non-overlapping Template Matching Test, the running speed is 483 times faster than the original NIST implementation without attenuating the test result accuracy.

关键词： random numbers CUDA non-overlapping template matching test parallel implementation NIST test

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Experimental research on dynamic characteristics analysis of machine tool based on unit structure

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Revista de la Facultad de Ingenieria 2016年第4期31卷 70-84页

作者： Zhu, Peihao Zheng, Qingchun Hu, Yahui Wang, Bing Chao, Jiaqi Tu, Huan Sun, Ning Li, Jinxiang School of Mechanical Engineering Tianjin University of Technology Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Tianjin300384 China

By the experiment modal research for unit structure, the natural frequency and mass of US by means of experimental modal analysis is explored. Experimental modal analysis on US was applied to achieve optimal US simultaneously to satisfy multiple conflicting performance requirements of mass and natural frequency of US. Then the structural parameters of US were optimized to increase natural frequencies and reduce mass. Experimental modal analysis is an efficient technique to accurately identify the dynamic behavior of a structure and provides modal parameters, such as natural frequencies and mode shapes.

关键词： Modal analysis

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A Bio-inspired Mutual-hook Strategy for the Soft Finger to Improve Load-bearing Capacity and Grasping Stability

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Journal of Bionic Engineering 2024年第3期21卷 1290-1304页

作者： Jie Huang Lingjie Gai Xiaofeng Zong Yunquan Li School of Automation China University of GeosciencesWuhan430074China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex System Wuhan430074China The Shien-Ming Wu School of Intelligent Engineering South China University of TechnologyGuangzhou510641China

Soft grippers have great potential applications in daily life,since they can compliantly grasp soft and delicate ***,the highly elastic fingers of most soft grippers are prone to separate from each other while grasping objects due to their low stiffness,thus reducing the grasping stability and load-bearing *** tackle this problem,inspired from the venus flytrap plant,this work proposes a mutual-hook mechanism to restrain the separation and improve the grasping performance of soft *** novel soft gripper design consists of three modules,a soft finger-cot,two Soft Hook Actuators(SHAs)and two sliding ***,the soft finger-cot covers on the soft finger,increasing the contact area with the target object,two SHAs are fixed to the left and right sides of the finger-cot,and the sliding mechanisms are designed to make SHAs stretch *** demonstrate that the proposed design can restrain the separation of soft fingers substantially,and the soft fingers with the finger-cots can grasp objects three times heavier than the soft fingers without the proposed *** proposed design can provide invaluable insights for soft fingers to restrain the separation while grasping,thus improving the grasping stability and the load-bearing capacity.

关键词： Soft robotics Soft bionic finger-cot Soft hook actuator Grasping stability Load-bearing capacity

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On Simulation for Fuzzy control on Oxygen Concentration of the Mixed Air Supplied by Breathing Adjuster 34

On Simulation for Fuzzy Control on Oxygen Concentration of t...

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第三十四届中国控制会议

作者： SUN Hao WANG Shou-jun SUN Qing-lin Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System The College of Mechanical Engineering Tianjin University of Technology The College of Computer and Control Engineering Nankai University Tianjin Key Laboratory of Intelligent Robotics

ISBN: (纸本)9781467374439

The breathing adjuster is the core component of life support system of an aircraft and it is very important to control the valve to make the breathing adjuster supply the pilot the mixed air with the suitable oxygen concentration. In this paper the mathematical model, which describes the relation between the opening degree of the valve of the breathing adjuster and the flight altitude of the aircraft, is set up through analyzing requirement of aviation physiology and working principles of the breathing adjuster. Then a fuzzy controller is designed to control the opening degree of the valve in order to make the breathing adjuster supply to the pilot the mixed air with suitable oxygen concentration. Finally MATLAB Simulink is employed to verify the feasibility and validity of the fuzzy controlling approach. The results of simulating experiments show that the fuzzy control approach proposed in this paper can make the breathing adjuster supply the mixed air with suitable oxygen concentration to the pilot boarded on an aircraft.

关键词： Breathing adjuster,Oxygen concentration,the opening degree of the valve,Fuzzy control,Simulation

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Large viewing angle holographic 3D display system based on maximum diffraction modulation

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Light(advanced Manufacturing) 2023年第3期4卷 195-205页

作者： Di Wang Nan-Nan Li Yi-Long Li Yi-Wei Zheng Zhong-Quan Nie Zhao-Song Li Fan Chu Qiong-Hua Wang School of Instrumentation and Optoelectronic Engineering Beihang UniversityBeijing 100191China Key Lab of Advanced Transducers and Intelligent Control System Ministry of EducationTaiyuan University of TechnologyTaiyuan 030024China

An ideal holographic 3D display should have the characteristics of large viewing angle,full color,and low speckle ***,the viewing angle of the holographic 3D display is usually limited by existing strategies,which vastly hinders its extensive *** this paper,a large viewing angle holographic 3D display system based on maximum diffraction modulation is *** core of the proposed system comprises the spatial light modulators(SLMs)and liquid crystal *** also present a new feasible scheme for the realization of large viewing angle holographic 3D *** is achieved by considering the maximum diffraction angle of SLM as the limited diffraction modulation range of each image *** doing so,we could not only give access to the maximum hologram size of the object,but also tune the reconstructed image of secondary diffraction by using a self-engineered liquid crystal *** importantly,the proposed maximum diffraction modulation scheme enables the viewing angle of the proposed system to be enlarged to 73.4°.The proposed system has huge application potential in the fields such as education,culture,and entertainment.

关键词： 3D display Liquid crystal grating Holographic 3D display Spatial light modulator

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Investigation of the Conjugate Heat Transfer and Flow Field for a Flat Plate with Combined Film and Impingement Cooling

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Journal of Thermal Science 2020年第4期29卷 955-971页

作者： FU Jinglun CAO Ying ZHANG Chao ZHU Junqiang Institute of Engineering Thermophysics Chinese Academy of SciencesBeijing 100190China University of Chinese Academy of Sciences Beijing 100049China Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin 300384China

Film cooling combined with internal impingement cooling is one of the most effective technologies to protect the gas turbine vanes and blades from the hot gas. In this study, conjugate heat transfer CFD study was undertaken for a flat plate with combined film cooling and impingement cooling. An experiment on conjugate heat transfer of a flat plate with combined film and impingement cooling was performed to validate the code. Then the effects of several parameters including Biot number, blowing ratio, film hole shape and impingement hole diameter on the overall cooling effectiveness were numerically studied. The results show that for a specific combined cooling scheme and a given blowing ratio, the coolant potential can be reasonably allocated to the internal and the external cooling to achieve the overall cooling effectiveness. As the blowing ratio increases, the overall cooling effectiveness trends to reach a maximum value. For different film hole geometrical, the maximum values of the overall cooling effectiveness at high blowing ratio approximate to the same value. At a given mass flow rate of coolant, the increase of the impingement hole diameter leads to the reduction of the overall cooling effectiveness.

关键词： conjugate heat transfer combined film and impingement cooling overall cooling effectiveness Biot number blowing ratio

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Performance improvement in double-ended RDTS by suppressing the local external physics perturbation and intermodal dispersion

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Chinese Optics Letters 2019年第7期17卷 17-22页

作者： Jian Li Yang Xu Mingjiang Zhang Jianzhong Zhang Lijun Qiao Tao Wangh Key Laboratory of Advanced Transducers and Intelligent Control System Ministry of Education and Shanxi ProvinceTaiyuan 030024China College of Physics&Optoelectronics Taiyuan University of TechnologyTaiyuan 030024China

We propose and experimentally demonstrate a novel Raman-based distributed fiber-optics temperature sensor(RDTS) for improving the temperature measurement accuracy and engineering applicability. The proposed method is based on double-ended demodulation with a reference temperature and dynamic dispersion difference compensation method, which can suppress the effect of local external physics perturbation and intermodal dispersion on temperature demodulation results. Moreover, the system can omit the pre-calibration process by using the reference temperature before the temperature measurement. The experimental results of dispersion compensation indicate that the temperature accuracy optimizes from 5.6°C to 1.2°C, and the temperature uncertainty decreases from 16.8°C to 2.4°C. Moreover, the double-ended configuration can automatically compensate the local external physics perturbation of the sensing fiber, which exhibits a distinctive improvement.

关键词： Performance improvement double-ended RDTS intermodal dispersion

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