Welcome to Journal of Beijing Institute of Technology

2016 Vol. 25, No. 3

Mechanical Engineering
3D reconstruction method based on contour features
HAN Bao-ling, ZHU Ying, LUO Qing-sheng, XU Bo, ZHANG Tian
2016, 25(3): 301-308. doi:10.15918/j.jbit1004-0579.201625.0301
Abstract:
To guarantee the accuracy and real-time of the 3D reconstruction method for outdoor scene, an algorithm based on region segmentation and matching was proposed. Firstly, on the basis of morphological gradient information, obtained by comparing color weight gradient images and proposing a multi-threshold segmentation, scene contour features were extracted by a watershed algorithm and a fuzzy c-means clustering algorithm. Secondly, to reduce the search area, increase the correct matching ratio and accelerate the matching speed, the region constraint was established according to a region's local position, area and gray characteristics, the edge pixel constraint was established according to the epipolar constraint and the continuity constraint. Finally, by using the stereo matching edge pixel pairs, their 3D coordinates were estimated according to the binocular stereo vision imaging model. Experimental results show that the proposed method can yield a high stereo matching ratio and reconstruct a 3D scene quickly and efficiently.
Designing and characteristics analysis of electric suspensions with symmetrically arranged two slider-rods
WANG Guo-sheng, LEI Qiang-shun, JIN Hao-long, SONG Hui-xin
2016, 25(3): 309-315. doi:10.15918/j.jbit1004-0579.201625.0302
Abstract:
An innovative design of electric suspensions was developed in this study to help realize slow active suspension easily and quickly. This design was driven by screw through double slider-rod arranged symmetrically as a substitute for two springs. Based on a mathematical modeling, suspension parameters were introduced for a certain type of wheeled vehicles. The functions and its mechanism in regulating terrain clearance and adjusting attitudes were subsequently explained respectively, together with its semi-active control mechanism and characteristics In conclusion, our data in the study show that the new mechanical design of suspensions not only could realize adjusting terrain clearance and static vehicle pose, but also had an ideal stiffness that could realize a semi-active suspension function through adjusting suspension's stiffness. Therefore it can bequite suitable for off-road wheeled vehicles and military wheeled vehicles.
Fault diagnosis of AMT gear shifting process based on semi-quantitative SDG model
LIU Hai-ou, MENG Dong-mei, PENG Jian-xin
2016, 25(3): 316-322. doi:10.15918/j.jbit1004-0579.201625.0303
Abstract:
In order to diagnose gear shifting process in automated manual transmission (AMT), a semi-quantitative signed directed graph (SDG) model is applied. Mathematical models are built by analysis of the power train dynamic and the gear shifting control process. The SDG model is built based on related priori knowledge. By calculating the fuzzy membership degree of each compatible passway and its possible fault source, we get the possibilities of failure for each possible fault source. We begin with the nodes with the maximum possibility of failure in order to find the failed part. The diagnosis example shows that it is feasible to use the semi-quantitative SDG model for fault diagnosis of the gear shifting process in AMT.
Simulation study of the dynamic characteristics of the electromagnetic flame-proof mechanism
WANG Ya-bin, JIA Jing-bo
2016, 25(3): 323-327. doi:10.15918/j.jbit1004-0579.201625.0304
Abstract:
Since the overloads of the electromagnetic flame-proof mechanism under different working conditions are complex and hard to be verified, a numerical simulation method of this mechanism working process is proposed with the combination of Adams and Simulink. First, a simulation model of electromagnetic flame-proof mechanism was established, which includes the safety pin, the spring, and the exciting coils and so on. Then, the model was imported to Adams taking constraints into consideration, which include the contacts, kinematic pairs and the spring. The co-simulation model was established through the union of Adams and Simulink. The model was tested via simulations, and the obtained results were analyzed finally. The results show that the method can simulate the dynamic process of the electromagnetic flame-proof mechanism during the service process and under the normal power supply condition, and therefore the motion displacements of the electromagnetic pin under different working conditions can be obtained through simulations. It can verify the mechanism's designing rationality, thus laying the foundation for the physical prototype testing and reducing the repetition of the product's design process.
Informatics and Electronic Engineering
Unequal-interval data fusion algorithm for inertial/gravity matching integrated navigation system
DENG Zhi-hong, LU Wen-dian, WANG Bo, FU Meng-yin
2016, 25(3): 328-336. doi:10.15918/j.jbit1004-0579.201625.0305
Abstract:
Inertial/gravity matching integrated navigation system can effectively improve the long-endurance navigation ability of underwater vehicles. Through the analysis of the matching process, the problem of unequal-interval in matching trajectory is addressed by an unequal-interval data fusion algorithm which is based on the unequal-interval characteristics analysis of the matching trajectory. Compared with previously available methods, the proposed algorithm improves the location precision. In conclusion, simulations of the integrated navigation system demonstrated the effectiveness and superiority of the proposed algorithm.
Joint space compliance control for a hydraulic quadruped robot based on force feedback
WANG Jun-zheng, KE Xian-feng, WANG Shou-kun, HE Yu-dong
2016, 25(3): 337-345. doi:10.15918/j.jbit1004-0579.201625.0306
Abstract:
In the realm of quadruped robot locomotion, compliance control is imperative to handle impacts when negotiating unstructured terrains. At the same time, kinematic tracking accuracy should be guaranteed during locomotion. To meet both demands, a joint space compliance controller is designed, so that compliance can be achieved in stance phase while position tracking performance can be guaranteed in swing phase. Unlike operational space compliance control, the joint space compliance control method is easy to implement and does not depend on robot dynamics. As for each joint actuator, high performance force control is of great importance for compliance design. Therefore, a nonlinear PI controller based on feedback linearization is proposed for the hydraulic actuator force control. Besides, an outer position loop(compliance loop) is closed for each joint. Experiments are carried out to verify the force controller and compliance of the hydraulic actuator. The robot leg compliance is assessed by a virtual prototyping simulation.
Pneumatic force servo system based on disturbance observer
WANG Bo, WANG Tao, FAN Wei, WANG Yu
2016, 25(3): 346-352. doi:10.15918/j.jbit1004-0579.201625.0307
Abstract:
In order to design a low-cost pneumatic force servo system with large output forces, a scheme of a booster cylinder controlled by high speed solenoid valves is proposed. A nonlinear model of the system is established, in which the hysteresis of high speed solenoid valve is considered. In order to deal with parameter uncertainty and disturbances of noise and friction, a feed-forward control method based on a disturbance observer is proposed. A practical pneumatic force servo system is used to testify the feasibility of the proposed controller. The experimental results show that pneumatic force servo system based on the proposed controller has high force tracking accuracy and quick response.
Energy-balanced on demand clustering improved leach protocol for wireless sensor networks
KHAMISS A A, CHAI Sen-chun, ZHANG Bai-hai, LI Qiao
2016, 25(3): 353-364. doi:10.15918/j.jbit1004-0579.201625.0308
Abstract:
In wireless sensor networks (WSNs), appropriate topology control (TC) could efficiently balance the load among sensor nodes and extend network lifespan. Clustering is an effective topology control technique that could reduce energy consumption and provide scalability to WSNs. However, some clustering algorithms, including the traditional low energy adaptive clustering hierarchy (LEACH), don't consider the residual energy and the communication distance. The energy consumption could dramatically increase in the case of long communication distance and high rate of control message exchange. In this paper we propose an energy-balanced clustering algorithm which considers the communication distance and the residual energy. Moreover the cluster head (CH) reselection is relevant to the current CH residual energy in order to reduce overheads. The simulation results demonstrate that the proposed algorithm prolongs the lifetime of the WSN in comparison to the LEACH and a hybrid clustering approach (HCA).
Virtual and physical address translation mechanism of interconnect network
LI Tie-jun, ZHANG Jian-min, MA Ke-fan, XIAO Li-quan, LI Si-kun
2016, 25(3): 365-374. doi:10.15918/j.jbit1004-0579.201625.0309
Abstract:
Most of users are accustomed to utilizing virtual address in their parallel programs running at the scalable high-performance parallel computing systems. Therefore a virtual and physical address translation mechanism is necessary and crucial to bridge the hardware interface and software application. In this paper, a new virtual and physical translation mechanism is proposed, which includes an address validity checker, an address translation cache (ATC), a complete refresh scheme and many reliability designs. The ATC employs a large capacity embedded dynamic random access memory (eDRAM) to meet the high hit ratio requirement. It also can switch the cache and buffer mode to avoid the high latency of accessing the main memory outside. Many tests have been conducted on the real chip, which implements the address translation mechanism. The results show that the ATC has a high hit ratio while running the well-known benchmarks, and additionally demonstrates that the new high-performance mechanism is well designed.
Interactive navigation system in smart phone with vibration feedback
YU He, GU Wen-zhao, SUN Ming-hui, QIN Gui-he, WANG Li-min, PAN Zhi-geng, ZHAO Wei, SUN Xiao-ying
2016, 25(3): 375-381. doi:10.15918/j.jbit1004-0579.201625.0310
Abstract:
The traffic congestion has become an urgent problem to be solved, which appears in the domestic and foreign large and medium-sized cities. Intelligent transportation is one of the important applications of ubiquitous computing. And it's an important way to ease the traffic congestion of the city. Intelligent navigation system is an important embodiment of intelligent transportation. So far, there have been many kinds of traditional vehicle navigation systems. But when they are in use, drivers will pay extra attention to get the path information through the visual and auditory cues.It's dangerous for drivers when they drive. At the same time, with the development of science and technology, mobile navigation system has been widely used. The mobile navigation system is a comprehensive system which relates to the field of mobile communication and GPS. The objective of this paper is to develop a smart phone and interaction navigation system based on the feedback of vibration and micro programmed control unit (MCU) control system. When drivers are in the driving process, the new navigation system can avoid the same sense of multiple tasks, which makes each sensory focus on only one independent task. Through the analysis, the system is demonstrated to improve the driving safety.
Generalized multiple time windows model based parallel machine scheduling for TDRSS
LIN Peng, KUANG Lin-ling, CHEN Xiang, YAN Jian, LU Jian-hua, WANG Xiao-juan
2016, 25(3): 382-391. doi:10.15918/j.jbit1004-0579.201625.0311
Abstract:
The scheduling efficiency of the tracking and data relay satellite system (TDRSS) is strictly limited by the scheduling degrees of freedom (DoF), including time DoF defined by jobs' flexible time windows and spatial DoF brought by multiple servable tracking and data relay satellites (TDRSs). In this paper, a generalized multiple time windows (GMTW) model is proposed to fully exploit the time and spatial DoF. Then, the improvements of service capability and job-completion probability based on the GMTW are theoretically proved. Further, an asymmetric path-relinking (APR) based heuristic job scheduling framework is presented to maximize the usage of DoF provided by the GMTW. Simulation results show that by using our proposal 11% improvement of average job-completion probability can be obtained. Meanwhile, the computing time of the time-to-target can be shorten to 1/9 of the GRASP.
Selection of a non-localized landing region for an unmanned helicopter based on an attention model
NIE Zhen-gang
2016, 25(3): 392-396. doi:10.15918/j.jbit1004-0579.201625.0312
Abstract:
A new landing region selection algorithm for an unmanned helicopter is proposed based on an attention model. Different from the original attention model, some properties of the possible safe landing regions (e.g., depth, regional color and motion features) are included in the selection algorithm. Furthermore, regional color and motion features are fused directly into the saliency map because these features do not have the "central-peripheral" property.Experimental results validate the feasibility and efficiency of this approach.
Polarimetric super-resolution algorithm for radar range imaging via spatial smoothing processing
LI Zhang-feng, ZHAO Guo-qiang, LI Shi-yong, LIU Fang, SUN Hou-jun, TAO Ran
2016, 25(3): 397-402. doi:10.15918/j.jbit1004-0579.201625.0313
Abstract:
A full-polarimetric super-resolution algorithm with spatial smoothing processing is presented for one-dimensional (1-D) radar imaging. The coherence between scattering centers is minimized by using spatial smoothing processing (SSP). Then the range and polarimetric scattering matrix of the scattering centers are estimated. The impact of different lengths of the smoothing window on the imaging quality is mainly analyzed with different signal-to-noise ratios (SNR). Simulation and experimental results show that an improved radar super-resolution range profile and more precise estimation can be obtained by adjusting the length of the smoothing window under different SNR conditions.
Low complexity SEU mitigation technique for SRAM-based FPGAs
JIANG Run-zhen, WANG Yong-qing, FENG Zhi-qiang, YU Xiu-li
2016, 25(3): 403-412. doi:10.15918/j.jbit1004-0579.201625.0314
Abstract:
An internal single event upset (SEU) mitigation technique is proposed, which reads back the configuration frames from the static random access memory (SRAM)-based field programmable gate array (FPGA) through an internal port and compares them with those stored in the radiation-hardened memory to detect and correct SEUs. Triple modular redundancy (TMR), which triplicates the circuit of the technique and uses majority voters to isolate any single upset within it, is used to enhance the reliability. Performance analysis shows that the proposed technique can satisfy the requirement of ordinary aerospace missions with less power dissipation, size and weight. The fault injection experiment validates that the proposed technique is capable of correcting most errors to protect space-borne facilities from SEUs.
3D surface reconstruction based on binocular vision using structured light
MA Zhi-feng, HAN Fu-hai, WANG Teng-fei
2016, 25(3): 413-417. doi:10.15918/j.jbit1004-0579.201625.0315
Abstract:
A 3D surface reconstruction method using a binocular stereo vision technology and a coded structured light, which combines a gray code with phase-shift has been studied. The accuracy of the 3D surface reconstruction mainly depends on the decoding of gray code views and phase-shift views. In order to find the boundary accurately, gray code patterns and their inverses are projected onto a human eye plaster model. The period dislocation between the gray code views and the phase-shift views in the course of decoding has been analyzed and a new method has been proposed to solve it. The splicing method is based on feature points. The result of the 3D surface reconstruction shows the accuracy and reliability of our method.
Chemical Engineering and Materials Science
Influence of aliphatic epoxy monomer on the blowing-out effect in the flame retardant epoxy resins
ZHANG Wen-chao, SONG Ting-lu, YANG Rong-jie
2016, 25(3): 418-428. doi:10.15918/j.jbit1004-0579.201625.0316
Abstract:
An aliphatic epoxy monomer "polypropyleneglycol-diglycidylether (PPGDGE, YF878)" is loaded in the epoxy resins (EP) to evaluate the influence of epoxy structure on the blowing-out effect, which is caused by 9,10-dihydro-9-oxa-10-phosphaphenanthrene-10-oxide (DOPO) and octaphenyl silsesquioxane (OPS). The flame retarding properties of these EP composites were tested using the LOI and UL-94 procedures. The pyrolytic gases produced and the thermal stability of the EP composites with different flame retardants were detected by TGA-FTIR in air. The negative effect of YF878 was detected from the TTI, HRR, and p-HRR results after the cone calorimeter test. The char produced by the EP composites after the cone calorimeter test was investigated by FTIR. It is proposed that the aliphatic chain of the YF878 is easy to break down and produce combustible gases, so it does not easily form a crosslinked structure in the condensed phase. These results are very helpful for investigation of the conditions under which the blowing-out effect in epoxy resins can be caused by synergy of phosphorous and silicon.
Characterization of polyhydroxyalkanoates synthesized in activated sludge using three carbon sources
ZHANG Yan-ping
2016, 25(3): 429-434. doi:10.15918/j.jbit1004-0579.201625.0317
Abstract:
Polyhydroxyalkanoates(PHAs) were synthesized in activated sludge using three types of carbon sources (sodium acetate,sodium propionate and sodium butyrate), and their characterization were studied. It was shown that the content of PHA synthesized by microorganisms in activated sludge were different. The biggest synthetic amount up to 36.7% of VSS was obtained when sodium acetate was used as carbon source. The polymer yield was lower when using sodium propionate as the carbon source than when using others, with 25.1% of VSS, while resulted in an increase of hydroxyvalerate(HV) units produced. The structure and thermal properties of extracted biopolymers were analyzed by scanning electron microscope (SEM), Fourier transform infrared spectroscopy (FTIR) and themo-gravimetry (TG).
Zynq-7000 SoC-based portable uncooled infrared imaging system
PAN Shao-wu, LI Xiao-qiong, HAN Jie
2016, 25(3): 435-440. doi:10.15918/j.jbit1004-0579.201625.0318
Abstract:
A novel portable infrared imaging system based on uncooled focal plane array and programmable system-on-chip (SoC) was proposed. The latest Xilinx Zynq-7000 was used to integrate the main part of the system into a single SoC. Parallel arithmetic units and digital modules were implemented on the programmable logic (PL) of Zynq-7000 to decrease system size and ensure the real-timepnonuniformity correction, while programs running on the processing system (PS) of Zynq-7000 controlled the system work flow and provided human-machine interfaces using open-source software such as Linux and OpenCV. Meanwhile, industry standard advanced extendable interface (AXI) buses were adopted to encapsulating standardized IP cores and build high speed data exchange bridges between units within Zynq-7000. Test results indicate that the image quality and real-time performance of the system can meet application requirements. And it provided a more flexible and extendable solution for evaluating and deploying infrared image enhancement and nonuniformity correction algorithms.
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