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Numerical simulation of the delay arming process of initiating explosive brakes

Journal of Beijing Institute of technology 2015年第1期24卷 4-7页

作者：王茹王亚斌 National Key Laboratory on Electromechanical Dynamic Control School of Mechatronic EngineeringBeijing Institute of Technology

The delay arming process of initiating explosive （ IE ） brakes for fuse is complex and hard to be verified. A numerical simulation model of IE brakes was established based on the arbitrary La- grange-Euler method. The model included the structure, the air filed, etc. The simulation boundary conditions were defined, including the contacts, blasting parameters of the explosive and the fluid- solid coupling interface. The simulation results show that the shear pin of the chosen IE can be cut off. When the piston needs to move 0.8 cm, the time set to the delay arming of the IE brakes model is about 40μS. The maximum displacement of the piston is 1. 17 cm. The model provides basis for parameters design and further improvement of IE brakes.

关键词： initiating explosive brakes numerical simulation ALE delay arming

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An object following method based on computational geometry and PTAM for UAV in unknown environments

An object following method based on computational geometry a...

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International Conference on Information and Automation (ICIA)

作者： Yuxi Huang Ming Lv Dan Xiong Shaowu Yang Huimin Lu College of Mechatronic Engineering and Automation The State Key Laboratory of High Performance Computing (HPCL) National University of Defence Technology Hunan Changsha P.R. China

ISBN: (纸本)9781509041039

This paper introduces an object following method based on the computational geometry and PTAM for Unmanned Aerial Vehicle(UAV) in unknown environments. Since the object is easy to move out of the field of view(FOV) of the camera, and it is difficult to make it back to the field of camera view just by relative attitude control, we propose a novel solution to re-find the object based on the visual simultaneous localization and mapping (SLAM) results by PTAM. We use a pad as the object which includes a letter H surrounded by a circle. We can get the 3D position of the center of the circle in camera coordinate system using the computational geometry. When the object moves out of the FOV of the camera, the Kalman filter is used to predict the object velocity, so the pad can be searched effectively. We demonstrate that the ambiguity of the pad's localization has little impact on object following through experiments. The experimental results also validate the effectiveness and efficiency of the proposed method.

关键词： Cameras Three-dimensional displays Computational geometry Simultaneous localization and mapping Visualization Robustness Optical imaging

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A New Nonlinear Method for Launch control of AMT Vehicles 34

A New Nonlinear Method for Launch Control of AMT Vehicles

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第三十四届中国控制会议

作者： Lu Xiaohui Chen Dong Liu Qifang Gao Yuan School of Mechatronic Engineering Chang Chun University of Technology State Key Laboratory of Automotive Simulation and Control Jilin University Department of Control Science and Engineering Jilin University

ISBN: (纸本)9781467374439

Launch control is a complex issue for AMT vehicle which focuses on minimizing clutch lockup time,minimizing friction losses during the slipping phase and ensuring smooth acceleration of the vehicle. According to the diversity and the uncertainty of start-up conditions and the complex control requirements, a nonlinear method for launch control of AMT vehicle is designed by the clutch slip speed control. Moreover, a model of the clutch system is given based on the dynamics of the system, which is a second-order equation. In order to verify the controller’s effectiveness,a powertrain model of AMT vehicles is established. The model includes an engine, a clutch, a transmission, a main reducing gear and wheels. And some simulations are carried out in different working conditions according to the actual situation. The results show that the proposed controller provides a good performance in AMT vehicles’ start-up progress and shows good adaptability in various working conditions.

关键词： AMT vehicle Launch control Feedforward-feedback

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Practical Synchronization of Discrete-Time Multi-Agent Systems Under Finite Input Sets 34

Practical Synchronization of Discrete-Time Multi-Agent Syste...

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第三十四届中国控制会议

作者： MENG Yang LI Tao ZHANG Ji-Feng Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy of Sciences Shanghai Key Laboratory of Power Station Automation Technology School of Mechatronic Engineering and Automation Shanghai University

ISBN: (纸本)9781467374439

In this paper, we study the coordination of discrete-time multi-agent systems under finite input sets. For uniformly quantized finite input sets, we design admissible control protocols based on relative state feedback and finite-level uniform quantization scheme to ensure practical synchronization. It is shown that the coarseness of the input set being less than an upperbound depending on the network topology and the given synchronization precision is necessary and sufficient for the existence of admissible control protocols under which the system can achieve practical synchronization in some sense. This result builds a bidirectional relationship between the coarseness of the input set and the synchronization precision, and also gives the coarsest condition on the input set that enables the system to achieve synchronization under given precision.

关键词： Practical Synchronization,Coarse Quantization,Finite Input Set

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Research on High-speed Object Detection Using a Planar Capacitive Sensor

Research on High-speed Object Detection Using a Planar Capac...

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2015 3rd International Conference on Machinery,Materials and Information technology Applications(ICMMITA 2015)

作者： Sanmin Shen Yong Ye Jiahao Deng National Defence Science and Technology Key Laboratory of Mechatronic Engineering and Control Beijing Institute of Technology National Key Laboratory of Science and Technology on Electronic Test and Measurement North University of China

A new method of high-speed object detection using planar capacitive sensor was presented. The planar capacitive consists of two electrodes. A sine signal was applied on one electrode to form a quasi-electrostatic field and another electrode was use to detect the object signal. The voltage of the detecting electrode is changed when an object approached to the planar capacitive. The detection model of the planar capacitive sensor was established. The relationship between the rendezvous distance and the voltage variation was deduced. The increase of the electrode diameter and the decrease of the electrodes space contributed to the improvement of the capacitive sensor's sensitivity. The experimental results showed that the planar capacitive sensor could achieve short range detection for high-speed object.

关键词： High-speed object detection Planar capacitive sensor Quasi-electrostatic field

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Three-dimensional suboptimal guidance law for fly-over and shoot-down smart ammunition via virtual target

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Journal of Beijing Institute of technology 2014年第4期23卷 443-451页

作者：杨喆吴炎烜范宁军王正杰 National Key Laboratory of Science and Technology on Electro-mechanical Dynamic Control School of Mechatronic EngineeringBeijing Institute of Technology

An optimal burst height is required for the fly-over and shoot-down smart ammunition with an EFP warhead at the instant of explosion which brings a special requirement to the miss distance of the terminal guidance law. In this paper, a guidance law based on the virtual target scheme is proposed. First, the practical pursuit-evasion issue between the ammunition and the target with specific miss distance is transformed into a virtuai pursuit-evasion problem with zero miss distance. Secondly, a complete three-dimensional pursuit-evasion kinematics model is established without any simplifications. And then, a suboptimal guidance law is designed based on the θ-D method which has constraints of the elevation and azimuth angular velocity of the virtual line of sight （LOS）. Finally, in order to verify the performance of the proposed guidance law, three test cases are conducted. Numericai results show that under the proposed terminal guidance law, the smart ammunition not only can fly above the target with an optimal burst height but also have a smaller normal acceleration on the terminal trajectory.

关键词： three-dimensional guidance law virtual target fly-over and shoot-down θ-D method

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Data-driven predictive gearshift control for dual-clutch transmissions and FPGA implementation

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IEEE Transactions on Industrial Electronics 2015年第1期62卷 599-610页

作者： Lu, Xiaohui Chen, Hong Gao, Bingzhao Zhang, Zhenwei Jin, Weiwei State Key Laboratory of Automotive Simulation and Control Department of Control Science and Engineering Jilin University Changchun130025 China School of Mechatronic Engineering Changchun University of Technology Changchun130012 China

During the gearshift management process, the shift time and the shift shock affect the shift quality (smoothness and efficiency) greatly. In this paper, a gearshift controller is designed using a data-driven predictive control technique to improve the shift quality of vehicles with a dual-clutch transmission (DCT). It is directly obtained from the input-output data of a DCT model constructed by the commercial software AMESim. In order to obtain an offset-free control for the reference input, a predictor equation is gained with the incremental input and outputs. The conflicting control requirements of a short shift time and a small shift shock are taken into account in the optimal objective function by smoothly tracking a selected proper reference trajectory and limiting the change rate of the actuator. Moreover, due to physical characteristics, the constraints of the actuator are explicitly considered in the problem formulation. Finally, the effectiveness of the proposed data-driven predictive controller is tested in the AMESim simulation model of a DCT vehicle. Aiming to pursue a real-time improvement of the hardware computing speed for the data-driven predictive controller, a novel scheme for implementing the designed controller based on a field-programmable gate array (FPGA) is proposed. Moreover, a rapid prototyping platform based on an FPGA and dSPACE is introduced for testing and verifying the computational performance of the proposed controller. The experimental results show that the designed gearshift control algorithm for gearshift has better performance in real time, and the control performance can be guaranteed in a real-time environment. © 2014 IEEE.

关键词： controllers

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Kinetostatics Analysis of a Novel 6-DOF Parallel Manipulator with Three Planar Limbs and Equipped with Three Fingers

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Chinese Journal of Mechanical engineering 2014年第5期27卷 919-927页

作者： LU Yi LI Xuepeng College of Mechanical Engineering Yanshan University Key Laboratory of Parallel Robot and Mechatronic System of Hebei Province Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education

It is significant to develop a robot hand with high rigidity by a 6-DOF parallel manipulator（PM）.However,the existing6-DOF PMs include spherical joint which has less capability of pulling force bearing,less rotation range and lower precision under alternately heavy loads.A novel 6-DOF PM with three planar limbs and equipped with three fingers is proposed and its kinematics and statics are analyzed systematically.A 3-dimension simulation mechanism of the proposed manipulator is constructed and its structure characteristics is *** kinematics formulae for solving the displacement,velocity,acceleration of the platform,the active legs and the fingers are *** statics formulae are derived for solving the active forces of PM and the finger *** analytic example is given for solving the kinematics and statics of proposed manipulator and the analytic solved results are verified by the simulation *** is proved from the error analysis of analytic solutions and simulation solutions that the derived analytic formulae are correct and provide the theoretical and technical foundations for its manufacturing,control and application.

关键词： parallel manipulator planar limbs finger kinematics statics

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Optimal power allocation and best relay positioning in opportunistic incremental amplify-and-forward cooperative system

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Journal of Communications 2014年第5期9卷 404-410页

作者： Li, Shuai Li, Ping Bai, Zhiquan Gao, Peng Peng, Gong National Key Laboratory of Mechatronic Engineering and Control School of Mechatronical Engineering Beijing Institute of Technology Beijing China School of Information Science and Engineering Shandong University Jinan China Key Lab. of Higher Education of Sichuan Province for Enterprise Information. and Internet of Things Sichuan University of Science and Engineering China

In this paper, aiming to minimize the system outage probability in the condition of limited total power consumption, we study the optimal power allocation and relay positioning of the opportunistic incremental Amplify-and-Forward (OIAF) cooperative system over Rayleigh fading channels with the utilization of convex optimization theory. The analysis of the outage probability and bit error rate (BER) performance is provided. Moreover, we also provide the analysis about the impact of information rate R on the BER performance under certain conditions when the number of the relays, the relay position and also the total power vary. Simulation results show that the proposed joint power optimization and best relay positioning scheme has advantages over other schemes in outage performance. © 2014 engineering and technology Publishing.

关键词： Cooperative communication

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Cryptanalysis and improvement of a certificateless signcryption scheme without bilinear pairing

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Frontiers of Computer science 2014年第4期8卷 656-666页

作者： Wenbo SHI Neeraj KUMAR Peng GONG Zezhong ZHANG Department of Electronic Engineering Northeastern University at Qinhuangdao Qinhuangdao 066004 China Department of Computer Science and Engineering Thapar University Patiala 147004 India National Key Laboratory of Mechatronic Engineering and Control School of Mechatronical Engineering Beijing Institute of Technology Beijing 100081 China The Yellow River Institute of Science North China University of Water Conservancy & Electric Power Zhengzhou 450011 China

As an improtant cryptographic scheme, signcryption scheme has been widely used in applications since it could provide both of signature and encryption. With the development of the certificateless public key cryptography （CLPKC）, many certificatelss signcryption （CLSC） schemes using bilinear pairing hve been proposed. Comparated other operations, the bilinear pairing operaion is much more compulicated. Therefore, CLSC scheme without bilinear pairing is more suitable for applications. Recently, Jing et al. proposed a CLSC scheme without bilinear pairing and claimed their scheme is secure against two types of adversaries. In this paper, we will show their scheme provide neither unforgeability property nor confidentiality property. To improve security, we also propose a new CLSC scheme without pairing and demonstrate it is provably secure in the random oracle model.

关键词： certificateless public key cryptography signcryption scheme bilinear pairings elliptic curve random oracle model

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