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    Supply Chain Resilience: Research Review and Prospects
    Zhong-zhong JIANG, Jia-run GUO, Wei ZHENG
    Journal of Northeastern University(Natural Science)    2025, 46 (7): 59-70.   DOI: 10.12068/j.issn.1005-3026.2025.20250055
    Abstract2108)   HTML64)    PDF(pc) (2764KB)(2435)       Save

    In recent years, compounded crises such as geopolitical conflicts (e.g., the Russia-Ukraine conflict) and technological containment (e.g., the China-U.S. trade friction) have continuously exerted a profound impact worldwide, revealing the vulnerabilities of global supply chains. Enhancing the supply chain resilience has become a critical strategy to ensure the sustainable development of countries around the world, especially China, and it serves as a vital foundation for making China strong in manufacturing. On this basis, existing research on supply chain resilience was comprehensively reviewed, with particular focus on its origins, conceptual definitions, and driving factors. The evolution of the research was systematically analyzed, and prospective research directions were explored from four dimensions: collaborative optimization, resource allocation, dynamic response, and risk management. The findings aim to provide theoretical support and decision reference for enhancing supply chain resilience both globally and within China.

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    Material Removal Mechanism During Ultrasonic Vibration Assisted Grinding AISI 304 with Single CBN Grain
    Zhen-yu YANG, Ping ZOU, Liang ZHOU, An-qi WANG
    Journal of Northeastern University(Natural Science)    2024, 45 (7): 1011-1019.   DOI: 10.12068/j.issn.1005-3026.2024.07.013
    Abstract1798)   HTML9)    PDF(pc) (5703KB)(610)       Save

    In order to explain the removal mechanism of abrasive cutting materials under ultrasonic action, the single grain grinding process was analyzed, and the mathematical model of undeformed cutting thickness and the fixed velocity ratio (vs/vw) of abrasive and workpiece was established. The single grain tests of conventional grinding (CG), tangential ultrasonic vibration assisted grinding (TUVAG) and radial ultrasonic vibration assisted grinding (RUVAG) with a fixed speed ratio were carried out on AISI 304 specimens. The results showed that the specimens are removed by plastic deformation under the action of CG and TUVAG at the fixed speed ratio, but the ultrasound significantly improves the material removal rate. The material removal method of the specimen under RUVAG was closely related to the value of the maximum undeformed cutting thickness agmax. When agmax is less than 0.8 μm, the specimen was removed in the form of brittle fracture. After that, with the increase of agmax, the specimen was removed in the form of plastic deformation.

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    Two-Stage Stochastic Inventory Optimization for the Assemble to Order System
    Ke JING, Yu LIU, Le-hua LI
    Journal of Northeastern University(Natural Science)    2024, 45 (6): 905-912.   DOI: 10.12068/j.issn.1005-3026.2024.06.020
    Abstract1790)   HTML5)    PDF(pc) (789KB)(2654)       Save

    Based on the replenishment strategy for the basic inventory level of parts and components, a two?stage stochastic optimization model is constructed with multi‐period uncertain order product demands. In the first stage, the basic inventory level of components is the decision variable and needs to be determined at the condition of unknown demands, and the objective is to achieve the maximum system revenue. In the second stage, the order assignment variable is designed when the order due date constraint is required, and the objective of this stage is to maximize the expected order revenue by taking order revenue and tardiness penalty into account. Additionally, a single?stage deterministic model by transforming the uncertain demand to the determined expected demand is presented and the objective function value of this deterministic model is compared with that of the stochastic model. The numerical experiment results show the performance of the stochastic model is worse than that of the deterministic model, which indicates some value of the unknown information. Meanwhile, a sensitive analysis is implemented for the parameters in the model and a strategy is put forward to improve the system revenue in practice.

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    Control Mechanism and Early Warning of Rainfall- Induced Landslide Based on NPR Anchor Cable
    Zhi-gang TAO, Guang-cheng SHI, Xiao-jie YANG, Man-chao HE
    Journal of Northeastern University(Natural Science)    2024, 45 (4): 573-583.   DOI: 10.12068/j.issn.1005-3026.2024.04.015
    Abstract1766)   HTML20)    PDF(pc) (12091KB)(426)       Save

    In order to study the control and the early?warning prediction technology for rainfall?induced landslide, the similar model test was designed by analyzing the spatial and temporal characteristics of slope deformation of Xiongjia Mountain landslide. Using ordinary Poisson’s ratio (PR) anchor cable and negative Poisson’s ratio (NPR) anchor cable as reinforcement materials, the law of rainfall?induced landslide and control mechanism of anchor cable were analyzed by using high?speed photography, pore pressure, earth pressure and anchor cable force sensors, and the evolution law of the Newtonian force during landslide was explored based on field tests. The results show that the sudden drop in pore water pressure is approximately synchronized with the local collapse of slope. NPR anchor force drop abruptly, causing local deformation in slope. The PR anchor cables fail because they cannot withstand large deformation, while the NPR anchor cables have high?stress energy absorption control functions due to the constant resistance and large deformation characteristics, enabling the slope to reach a secondary equilibrium state. The NPR anchor cable exhibits a significant deformation?slip dynamic law characterized by a first sudden increase followed by a sudden drop before the landslide. The field test revealed the Newtonian force evolution law in the whole process of the landslide, and obtained the early?warning time parameters of the Xiongjia Mountain landslide 7.5 h in advance.

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    Microscopic Failure Characteristics of Sandstones with Different Composition and Microstructures
    Da-zeng SUN, Wen ZHAO, Xing-liang XU, Xin WANG
    Journal of Northeastern University(Natural Science)    2024, 45 (4): 584-591.   DOI: 10.12068/j.issn.1005-3026.2024.04.016
    Abstract1761)   HTML23)    PDF(pc) (5822KB)(670)       Save

    In order to study the interconnection between macroscopic and microscopic failure characteristics of different textured sandstones, three types of sandstones from Xianghualing mining area were analyzed using petrographic analysis, sedimentary phase discrimination, and uniaxial compression and shear tests to observe the microscopic structural characteristics. The results show that compressive strength of terrestrial sedimentary quartz sandstone is the largest, followed by feldspathic sandstone, and marine sedimentary glauconitic sandstone is the smallest. In uniaxial compression, quartz sandstone and feldspathic sandstone exhibit brittle failure on a macroscopic scale, while glauconitic sandstone shows ductile failure with softening characteristics. On the microscopic scale, quartz sandstone undergoes intergranular failure with a smooth surface, while feldspathic sandstone experiences intergranular and transgranular failure with a small scallop?shaped surface and minimal adhering debris, and glauconitic sandstone displays a flat?granular composite fracture surface with obvious grain crushing and pronounced scratches. The failure characteristics are jointly controlled by the grains, cemented material and structural weak planes. The shear test microscopically shows that the quartz sandstone occurs has transgranular failure first and then intergranular failure, with uneven surface, scrapes and debris, while the feldspathic sandstone occurs transgranular failure mainly and intergranular failure, with partially flat surface, scrapes and debris. The glauconitic sandstone simultaneously exhibits intergranular and transgranular failure, resulting in a smooth surface with almost no abrasion or debris. The microscopic failure characteristics are influenced by the grain strength and cementing materials.

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    Removal Mechanism and Effect of Parameters on Grinding Force in Grinding SiC Ceramics
    Yun-guang ZHOU, Chuan-chuan TIAN, Shu-hai WANG, Han CHEN
    Journal of Northeastern University(Natural Science)    2024, 45 (4): 548-554.   DOI: 10.12068/j.issn.1005-3026.2024.04.012
    Abstract1744)   HTML20)    PDF(pc) (1695KB)(1746)       Save

    In order to explore the removal mechanism and influence law of grinding force in grinding SiC ceramics, the simulation model of single abrasive striking SiC ceramics was established based on the SPH(smoothed particle hydrodynamics) method, and the crack generation and propagation mechanism during grinding SiC ceramics were analyzed; the effect of grinding velocity (vs), feeding rate (vw) and grinding depth (ap) on the removal mechanism, the normal grinding force and tangential grinding force of grinding SiC ceramics were analyzed by the single factor experiment. The results showed that the abrasives striking the workpiece lead to the generation of the median cracks and the transverse cracks. With the increase of abrasive pressing depth, the transverse crack expands to the material surface, and when the transverse crack expands to the material surface, the brittle fracture occurs. With the increase of vs, the decrease of vw and ap, and the decrease of the area and depth of the pits on the grinding surface, the plastic removal area becomes larger, and the normal grinding force and tangential grinding force both decrease. These results may provide an important basis for high‐efficiency and low‐damage machining of SiC ceramic components.

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    Uniaxial Compression Failure Mechanism and Acoustic Emission Characteristics of Granite with Y-Type Composite Joints
    Peng-hai ZHANG, Qing-shan MA, Xi-ge LIU, Tian-hong YANG
    Journal of Northeastern University(Natural Science)    2024, 45 (4): 564-572.   DOI: 10.12068/j.issn.1005-3026.2024.04.014
    Abstract1728)   HTML27)    PDF(pc) (8178KB)(478)       Save

    Y?type composite joints with different inclination angles are prefabricated in granite specimens using the splitting method, and uniaxial compression experiments are conducted. The effects of the inclination angle of the composite joint on the failure mode, peak strength, surface deformation field, and acoustic emission energy release characteristics are analyzed, and the failure mechanism under different failure modes is explored. The experimental results show that: 1) Rock with Y‐shaped composite joints exhibit three main failure modes: overall failure, wedge ejection failure, and failure along the main joint surface, which vary with joint inclination; 2) The angle of composite joints and the inclination angle of main joints have a negative correlation with rock strength; 3) When the failure mode transitions changes from overall failure to ejection failure and failure along the main joint, the concentrated slip deformation zone shifts from the secondary joint to the main joint, and the high‐energy AE events induce a transition from the main and secondary joint compaction and slip dislocation to the main joint compaction and slip dislocation; 4) As the inclination angle of the main joint increases, the energy released on the main joint surface is higher and the distribution of energy is more uneven.

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    A Method for Anomaly Detection and Fault Diagnosis of Elevator Door Machine
    Yu-chuan FAN, Bo FAN, Zhuo CHEN, Xiao-shun ZHANG
    Journal of Northeastern University(Natural Science)    2024, 45 (6): 761-768.   DOI: 10.12068/j.issn.1005-3026.2024.06.001
    Abstract1718)   HTML88)    PDF(pc) (1731KB)(1799)       Save

    A method for anomaly detection and fault diagnosis of elevator door machine operation is proposed. Firstly, the opening and closing door curve is spearated from the operation data of the elevator door machine and divided it into 10 operating segments, and the data characteristics of each section is extracted. Secondly, an anomaly detection method based on boxplot is proposed, and the accumulated data characteristics of each running section are used for anomaly diagnosis. In order to prevent the diagnostic error caused by the data not satisfying the normal distribution, the normality test method of the feature data of the door machine is added, and the Box-Cox transformation is performed on the data that does not meet the normal distribution. Finally, the segmented feature data of the elevator door is extracted, and the extreme learning machine(ELM) is used to train the classification model for three faults: door knife jamming fault, overall resistance increase fault and synchronous belt loosening fault. Experiments have verified that the proposed anomaly detection method and fault diagnosis method have high accuracy and value of application and promotion.

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    Regulation of Secondary Carbide Characteristics and Its Effect on Wear Resistance of High Carbon High Alloy Martensitic Steel
    Jin-zhe JIANG, Yue LIU, Chun-ming LIU
    Journal of Northeastern University(Natural Science)    2024, 45 (4): 490-498.   DOI: 10.12068/j.issn.1005-3026.2024.04.005
    Abstract1716)   HTML35)    PDF(pc) (2514KB)(1205)       Save

    The size and content of secondary carbide have an important effect on the mechanical properties and wear resistance of high carbon high alloy martensitic steel. In this paper, the evolution behavior of secondary carbide during forging and spheroidizing annealing process were studied by scanning electron microscope and transmission electron microscope, and its effects on mechanical properties and wear resistance of high carbon high alloy martensitic steel were also studied with abrasion wear testing machine. The results show that spheroidizing annealing significantly increases the content and size of secondary carbide in forged and air?cooled steel. The secondary carbide refine the austenite grain size by pinning grain boundary and reduce the solid solution content of alloying elements in martensite, which effectively improves the impact toughness of experimental steel. The micron?sized secondary carbide and ductile martensite matrix hinder abrasive cutting and reduce the microscopic fracture on worn surface effectively, which improves the wear resistance of experimental steel.

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    Effect of Feeding Steel Strip Carbon Content on Macrosegregation Distribution in Large Continuous Casting Round Bloom
    Yu-chao YAO, Zhong-qiu LIU, Wen-jie RONG, Bao-kuan LI
    Journal of Northeastern University(Natural Science)    2024, 45 (4): 499-506.   DOI: 10.12068/j.issn.1005-3026.2024.04.006
    Abstract1678)   HTML29)    PDF(pc) (1891KB)(1042)       Save

    Feeding a cold steel strip into continuous casting (CC) mold is an effective method to improve the center quality of large round bloom. A liquid‐columnar‐equiaxed solidification three‐phase volume averaged solidification model was developed to explore the effect of feeding strip carbon content on solidification structure and macrosegregation distribution of large CC round bloom in this paper. The results show that the carbon content of feeding steel strip has a significant effect on the growth of equiaxed crystals and columnar crystals. Under the condition of both low and high strip carbon contents, the effect of feeding steel strip on increasing equiaxed grain volume fraction will be reduced. The solute concentration and distribution in the casting bloom can be directly affected by regulating the solute concentration of steel strip. The steel strip with 1.0 times the carbon content of casting steel (rC=1.0) has the best improvement effect on the large CC round bloom, with the radial extreme difference of carbon content and macrosegregation index of the bloom being 0.165 7% and 38.36%, respectively.

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    Mechanism and Efficiency of Combined Longitudinal-Torsional Vibration-Assisted Rock Drilling
    Da-yong GAO, Jian-yong LIN, Ya-ting TIAN, Hong-liang YAO
    Journal of Northeastern University(Natural Science)    2024, 45 (4): 555-563.   DOI: 10.12068/j.issn.1005-3026.2024.04.013
    Abstract1632)   HTML17)    PDF(pc) (2491KB)(347)       Save

    In response to the limitations posed by singular longitudinal or torsional vibration‐assisted rock drilling, a combined longitudinal‐torsional vibration‐assisted rock drilling scheme was proposed. Firstly, the theoretical model of the scheme is analyzed. Then, DEM (discrete element method ) simulations using EDEM (event driven execution manager) software are conducted to simulate the drilling mechanism and effects on rocks under various conditions. Results indicate that the addition of combined longitudinal‐torsional vibration assistance decreases the maximum resultant force on the drill bit by 36.45%, 9.34% and 32.84%, respectively, compared to zero vibration, longitudinal vibration, and torsional vibration schemes. Moreover, drilling speeds increase by 26.02%, 4.27% and 16.13%, respectively. Finally, experimental validation of the proposed scheme’s drilling performance reveals a 35.48% reduction in the drill head’s support strain and a 31.25% increase in the drilling speed when compared to solely adding torsional vibration assistance. It is demonstrated that the combined longitudinal‐torsional vibration‐assisted method can significantly enhance the efficiency of rock drilling.

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    Ferrite Phase Transformation Model of DP600 Hot Rolled Dual-Phase Steel Under ESP Process
    Xiao-guang ZHOU, Xin MA, Shan JIANG, Zhen-yu LIU
    Journal of Northeastern University(Natural Science)    2024, 45 (4): 483-489.   DOI: 10.12068/j.issn.1005-3026.2024.04.004
    Abstract1623)   HTML26)    PDF(pc) (1445KB)(785)       Save

    In order to establish ferrite phase transformation kinetics mathematical model of DP600 hot rolled dual-phase steel under the ESP process condition, the isothermal phase transformation and continuous cooling phase transformation experiments were conducted on the experimental steel by using the dynamic phase transformation dilatometer. Based on the measured ferrite phase transformation incubation time and ferrite volume fraction, the incubation time of ferrite phase transformation was calculated by combining classical nucleation theory above the deformation temperature, and the incubation time of ferrite phase transformation below the deformation temperature was calculated by fitting ?GV according to the experimental data. Considering the influence of cooling rate, the additivity rule was modified and based on this, the starting temperature and volume fraction of ferrite phase transformation under continuous cooling conditions were calculated. The results showed that the calculated starting temperature and volume fraction of ferrite phase transformation using the modified phase transformation model are in good agreement with the measured values, which can be used to predict the ferrite phase transformation behavior of DP600 dual-phase steel under the ESP process.

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    Research on Emotion Recognition Method of Music Multimodal Data
    Dong-hong HAN, Yan-ru KONG, Yi-meng ZHAN, Yuan LIU
    Journal of Northeastern University(Natural Science)    2024, 45 (6): 776-785.   DOI: 10.12068/j.issn.1005-3026.2024.06.003
    Abstract1570)   HTML40)    PDF(pc) (1681KB)(1807)       Save

    The research of music emotion recognition has broad application prospects in the fields of music intelligent recommendation and music visualization. Aiming at the problem that only using low?level audio features for emotion recognition has limited effectiveness and poor interpretability. Firstly, an emotion recognition model ERMSLM based on MIDI (musical instrument digital interface) data is constructed, which can learn the semantic information of notes. The features of this model are composed of melodic features extracted with skip?gram and LSTM(long short?term memory), tonal features extracted by pre?trained MLP and manually constructed features. Secondly, an emotion recognition model ERMBT based on text data that integrates lyrics and social tags is constructed. The lyrics features are composed of emotional features extracted with BERT, emotional dictionary features constructed by using ANEW lists and TF-IDF features of lyrics. Finally, two multimodal fusion models of feature?level fusion and decision?level fusion are constructed based on MIDI and text data. The experimental results show that the ERMSLM and ERMBT models can achieve accuracies of 56.93% and 72.62% respectively. And the decision?level multimodal fusion model is more effective.

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    Research on Identifying the Psychological Load of Operators in Hazardous Operations Based on Physiological Signals
    Rui HAO, Xin ZHENG, Yi-lin LI
    Journal of Northeastern University(Natural Science)    2024, 45 (4): 600-608.   DOI: 10.12068/j.issn.1005-3026.2024.04.018
    Abstract1537)   HTML26)    PDF(pc) (1185KB)(854)       Save

    To identify the psychological load of operators in hazardous operations and improve the reliability of man‐machine systems, the psychological load was induced by the detonation of energy?containing materials, and the heart rate, EEG (electroencephalogram), and eye movement signals of 30 subjects were collected for psychological load identification under the resting state and psychological load. Firstly, the paired t‐test and rank sum test were used to statistically analyze the collected heart rate, EEG and eye movement signals. Eight EEG, three eye movement, and nine heart rate features were significantly changed under the resting state and psychological load. Secondly, Pearson correlation analysis, maximum relevance minimum redundancy (MRMR) algorithm and principal component analysis (PCA) were applied to reduce dimension of the physiological indexes obtained from the preliminary selection. Finally, the physiological indicators obtained after dimensionality reduction based on the above three methods were used for psychological load identification by Logistic Regression, KNN, SVM, XG‐Boost, Decision Tree, and Random Forest machine learning methods. The results showed that the Random Forest machine learning method has better identification performance (ACC=0.917, SN=1.0, SP=0.857, F1=0.909, AUC=0.971) based on MRMR’s psychological load feature selection results. The current research provides a theoretical basis for the effective identification of the psychological load of operators in hazardous operations.

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    Hybrid Denoising Algorithm for Medical CT Sequence Images
    Jin-lin CHEN, Pei-xin YUAN
    Journal of Northeastern University(Natural Science)    2024, 45 (4): 464-473.   DOI: 10.12068/j.issn.1005-3026.2024.04.002
    Abstract1518)   HTML40)    PDF(pc) (2210KB)(1323)       Save

    The medical CT sequence images dopes noise for various reasons. Denoising can effectively improve image quality. The common algorithms are used for single image, while the CT sequence images have high similarity between adjacent images. Therefore, this paper proposes a hybrid denoising algorithm based on the structural similarity. Firstly, a histogram is drawn according to the maximum and minimum gray value. Secondly, relevant threshold parameters are set to calculate the window width and window level, and then conduct window adjustment. Thirdly, the structural similarity of the target image and its adjacent images are calculated. Finally, BM3D and Gaussian filtering algorithms are mixed for three images according to structural similarity. Experimental results show that the algorithm can improve the mean square error, peak signal?to?noise ratio and structural similarity, which effectively improves the image quality.

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    Critical Fluidization Characteristics of Iron Ore in Fluidized Bed Reactor
    Zhi-ming LI, Yue-xin HAN, Yong-sheng SUN, Zhi-dong TANG
    Journal of Northeastern University(Natural Science)    2024, 45 (4): 592-599.   DOI: 10.12068/j.issn.1005-3026.2024.04.017
    Abstract1466)   HTML17)    PDF(pc) (1622KB)(751)       Save

    The U‐type reaction chamber is a core component of suspension roasting equipment, the critical fluidization characteristics of materials have both theoretical and practical significance. Therefore, this paper built a cold test system, and conducted research using hematite powder and aluminum oxide powder as materials to study the influence of aeration air volume, material properties on the critical fluidization characteristics, and modified empirical formula of critical fluidization characteristics based on the test. The results show that the critical fluidization gas velocity increases with the increase in particle size and density of materials. The critical fluidization velocity decreases with the increase of the aeration air volume under the condition of a fixed bed in the loosening chamber, the modified formula fits well with the experimental results and can be used to predict fluidization behavior. The research results are helpful to realize the integration of suspension roasting technology and equipment, and also have certain guiding significance for industrial applications.

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    Optimization of Argon Bottom Blowing During Electric Heating Stage of LF Refining Process
    Ning WANG, De-yue QIN, Bao-kuan LI, Jia-qi ZHAO
    Journal of Northeastern University(Natural Science)    2024, 45 (4): 507-513.   DOI: 10.12068/j.issn.1005-3026.2024.04.007
    Abstract1456)   HTML25)    PDF(pc) (2094KB)(933)       Save

    During the electric heating stage of the LF (lalde furnace) refining process, dual?nozzle equi?flow argon blowing is often used. This paper proposes a bottom blowing method of dual?nozzle non?equi?flow argon blowing. A 1∶4 non?isothermal water model experimental platform was designed based on a 135 t ladle in a steel plant. Under the same total flow rate, temperature homogenization experiments were conducted with bottom blowing ratios of 1∶1, 2∶1 and 3∶1. The results show that the minimum dimensionless temperature difference and the best homogenization effect were observed at each monitoring point when the bottom blowing ratio was 2∶1. The coupling mathematical model for flow and heat transfer was established to verify the experimental results. The results show that under the same total flow rate, the proportion of flow dead zone was 14.1%, 9.1%, and 9.8% respectively when the bottom blowing ratio was 1∶1, 2∶1 and 3∶1, and the proportion of temperature dead zone was 6.2%, 2.6%, and 0.3%, respectively. The 2∶1 non?equi?flow bottom blowing method has advantages in active flow field and promotes the temperature uniformity.

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    Research on Event-Triggered Control of Heterogeneous Cooperative Vehicle Platoons Considering Time Delay
    Chuan-yin TANG, Ji-feng XIA, Ming-li ZHANG, Long-jie WU
    Journal of Northeastern University(Natural Science)    2024, 45 (4): 540-547.   DOI: 10.12068/j.issn.1005-3026.2024.04.011
    Abstract1444)   HTML15)    PDF(pc) (2339KB)(587)       Save

    To address the problem of heterogeneity and time delay caused by mixed traffic, a heterogeneous cooperative event‐triggered control method with time delay for autonomous driving platoons was proposed. Firstly, a heterogeneous vehicle delay model taking into account mixed traffic was established. Secondly, the event‐triggered controller in different modes was designed based on PID(proportional?integral?derivative) control and model predictive control(MPC). Thirdly, under urban and emergency conditions, the proposed controller was simulated and analyzed. Finally, a real‐car experiment was conducted based on the Jetson Nano model car. The simulation and experiment results illustrated that the proposed event‐triggered control method strikes a better balance between control accuracy and calculation speed under different circumstances. In the emergency situations with communication delay, it can still maintain lower errors.

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    Development and Prospects for Software‑Defined Intelligent Control Systems
    Tian-you CHAI, Rui ZHENG, Yao JIA, Xin-yu HUANG, Yan-jie SONG
    Journal of Northeastern University(Natural Science)    2025, 46 (7): 1-10.   DOI: 10.12068/j.issn.1005-3026.2025.20250079
    Abstract1396)   HTML84)    PDF(pc) (4009KB)(677)       Save

    The current state of research on software-defined control systems was reviewed, and the role and development of control systems throughout the industrial revolutions were analyzed. The intelligent development direction for software-defined control systems was proposed. The case study of a software-defined end-edge-cloud collaborative PID(proportional-integral-derivative) tuning intelligence system was presented, which demonstrates that the tight conjoining and coordination between industrial artificial intelligence, industrial Internet, and other new-generation information technologies with software‐defined control systems has opened up a new way for the development of software-defined intelligent control systems. Finally, the principal research directions for software-defined intelligent control systems were pointed out by considering the challenges faced by software-defined control systems and those specific to their intelligent transformation.

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    Absolute Position Accuracy Calibration Algorithm for Robots Based on Joint Geometric Error
    Liang LIANG, Cheng-dong WU, Shi-chang LIU
    Journal of Northeastern University(Natural Science)    2025, 46 (4): 1-7.   DOI: 10.12068/j.issn.1005-3026.2025.20230303
    Abstract1392)   HTML118)    PDF(pc) (1793KB)(778)       Save

    An industrial robot kinematic model with joint geometric error parameters and a calibration algorithm is proposed. Firstly, based on the DH model, six geometric error parameters are introduced for each joint to establish a more comprehensive error calibration model. The solutions of forward and inverse kinematic for the model are realized. Then, a differential kinematic Jacobian matrix containing 45 parameters, including joint errors, base coordinate errors, and tool coordinate errors is established. An iterative algorithm based on a small sample test set is used to solve the error parameters. Finally, experimental verification is carried out using a laser tracker on the SIASUN SR10C robot. The calibrated error parameters are then compensated into the model. Results show that, after calibration compensation, the maximum position error of the robot decreases by approximately 80%, the average position error decreases by approximately 80%, and the error variance decreases by approximately 97%, demonstrating that this method can significantly improve the absolute position accuracy and determinacy of industrial robots.

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