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16 September 2022, Volume 43 Issue 9 Previous Issue    Next Issue
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Information & Control

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Mobile Robot Path Planning Algorithm Based on Improved RRT*FN WANG Hai-fang， CUI Yang-yang， LI Ming-fei， LI Guang-yu 2022, 43 (9):  1217-1225.  DOI: 10.12068/j.issn.1005-3026.2022.09.001 Abstract ( 1329 )   HTML ( 144)   PDF (1869KB) ( 711 )   Aiming at the global optimal path planning of mobile robots in complex environments， an improved RRT*FN path planning algorithm based on target bias extension and Bezier interpolation method is proposed. The improved algorithm adopts a certain probability to select the target bias of random points when the initial path is not found. After determining the initial path， the heuristic sampling method is used to make random sampling points iteratively select around the initial path， which improves the guidance of path planning. When the improved algorithm has not found the initial path， the nodes far from the target point and no child nodes in the tree are deleted. When the improved algorithm finds the initial path， the nodes far from the optimal path and without child nodes in the tree are deleted， and the high-performance nodes are reserved to improve the efficiency of algorithm convergence to the optimal path. The path is smoothed by Bezier interpolation. 2D and 3D comparative experiments were carried out on MATLAB simulation platform and ROS robot simulation platform respectively. The effectiveness and superiority of the proposed algorithm are verified. References | Related Articles | Metrics

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Robot Real-time Obstacle Avoidance Algorithm Based on Prediction of Obstacle Reachable Area PENG Fan， XIE Yong-fang， CHEN Xiao-fang， YIN Ze-yang 2022, 43 (9):  1225-1233.  DOI: 10.12068/j.issn.1005-3026.2022.09.002 Abstract ( 913 )   HTML ( 40)   PDF (1623KB) ( 425 )   For the path planning and autonomous obstacle avoidance problem of robot in complex environment， a real-time obstacle avoidance algorithm is proposed based on the prediction of the reachable area of dynamic obstacles. The static obstacles are described and modelled， and the state update prediction equations of dynamic obstacles are established to realize the prediction of the reachable area of dynamic obstacle mass center. For dynamic and static obstacles， a multi-step elliptic envelope potential field based on reachable area prediction and a potential field based on the novel Sigmoid function are proposed， respectively， to modify the target’s logarithmic Lyapunov gravitational field. A real-time obstacle avoidance algorithm is given for robot in the environment of multi-type obstacles. The numerical simulation and experimental results show that compared with traditional methods， the real-time obstacle avoidance algorithm can realize shorter path length， higher security and smaller driving angle during obstacle avoidance process. References | Related Articles | Metrics

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Plane Wave Ultrasonic Imaging Based on Improved Coherence Factor Delay Multiplication and Sum QU Xi-ming， LI Da-yu， ZHANG Shi， WANG Bao-yu 2022, 43 (9):  1234-1239.  DOI: 10.12068/j.issn.1005-3026.2022.09.003 Abstract ( 684 )   HTML ( 32)   PDF (2147KB) ( 284 )   Aiming at the high correlation characteristics of ultrasound echo signals， a delay multiplication and sum beamforming algorithm based on improved coherence factor(pCF-DMAS)is proposed and applied to plane wave ultrasound imaging. The algorithm calculates the weight of the echo signal by enhancing the coherence of the coherence factor， and then performs multiplication and sum operations. By using Field II to perform simulation experiments on ultrasound point targets and cyst targets， the imaging results are analyzed to verify the effectiveness of the algorithm. The simulation results show that the algorithm has excellent laterally resolution， and has the highest contrast when p is 0.7. With the imaging effects of point targets and cyst targets considered， the optimal p value of the algorithm is proposed to be 0.3. Compared with the delay stacking and delay multiplication and sum beamforming algorithms， the CR of the image is increased by 12.559， 9.602dB， respectively. References | Related Articles | Metrics

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Method of Actuator Fault Diagnosis via Multiple Angles Feature Extraction WANG Na， LI Yang， PENG Kun 2022, 43 (9):  1240-1249.  DOI: 10.12068/j.issn.1005-3026.2022.09.004 Abstract ( 679 )   HTML ( 26)   PDF (958KB) ( 215 )   For the swaying problem of actuator faults， a fault diagnosis method based on multi-angle feature extraction is proposed. The short-time analysis idea is used to frame the actuator data to obtain a short-stable time series. The energy-entropy-ratio concept is introduced to extract the current features of actuator datum frame. Dynamic time-regular thoughts to extract positional characteristics within the actuator data frame is utilized. A multi-angle feature to enhance the significance of input characteristics is formed. On this basis， the bidirectional long-short term memory network is used to improve the accuracy of the subsequent actuator fault classification process. Finally， by the measured data from a certain type actuator swaying， the validity of the proposed method is verified by the comparing with the traditional short term memory network methods. References | Related Articles | Metrics

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Equivalent Test Method of Spacecraft Anti-radiation Based on Hierarchical Expected Improvement ZHANG Lu-lu， FAN Jun， JIN Guang， ZHANG Kun 2022, 43 (9):  1250-1255.  DOI: 10.12068/j.issn.1005-3026.2022.09.005 Abstract ( 581 )   HTML ( 18)   PDF (628KB) ( 94 )   Restricted by test conditions， performing spacecraft anti-multi-source X-ray ground simulation test is generally difficult. A single source X-ray numerical simulation equivalent test method is proposed. To overcome the “excessive greedy” phenomenon of the expected improvement(EI)method in the equivalent test points searching， a hierarchical EI equivalent test model is established. On this basis， by introducing quadratic terms into the improvement function， the model’s global searching ability is further improved. The anti-X-ray radiation numerical simulation test of CFRP material is subject to the object， and the hierarchical EI equivalent test model is used for equivalent test input value search. The results indicate that the hierarchical EI equivalent test model has higher search accuracy. References | Related Articles | Metrics

Mechanical Engineering

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Dynamic Modeling and Analysis of Piezoelectric Shunt Thin Plates Based on Step-by-Step Coupling LIU Yue， SUN Wei， LI Ming 2022, 43 (9):  1255-1262.  DOI: 10.12068/j.issn.1005-3026.2022.09.006 Abstract ( 523 )   HTML ( 22)   PDF (1902KB) ( 161 )   In order to effectively implement piezoelectric shunt damping vibration， a dynamic analysis model which can estimate the vibration reduction effect is created to guide the vibration reduction design. A step-by-step coupling modeling method for piezoelectric shunt thin plate structures is proposed， in which the substrate structure and shunt circuit are modeled separately and the two are coupled by piezoelectric patches. Based on the ANSYS software platform， the modeling process of piezoelectric shunt thin plates with step-by-step coupling is described in detail. The experiment verifies the rationality of the modeling method， and the piezoelectric shunt damping has a good vibration reduction effect， which reduces the resonance response by more than 50%. The influence of inductance values， piezoelectric patch position and area on the vibration response of the thin plate is analyzed. The results show that for resistance-inductors in series and parallel shunt circuits， there is an optimal inductance value to optimize the vibration reduction effects of thin plates. The piezoelectric patch is attached to a larger region and increases the piezoelectric sheet size to vibration reduction. References | Related Articles | Metrics

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Influence of Processing Parameters on the Bonding Neck of Fused Filament Fabrication Products YUN Chao-qun， JIANG Shi-jie， ZHAN Yang， LI Chang-you 2022, 43 (9):  1263-1269.  DOI: 10.12068/j.issn.1005-3026.2022.09.007 Abstract ( 569 )   HTML ( 17)   PDF (1356KB) ( 160 )   Fused filament fabrication(FFF)is one of the most widely used additive manufacturing technologies today. The bonding neck formed between the adjacent extruded material filaments of FFF products has an important influence on the forming quality， and it is significantly influenced by the processing parameters. The experimental and theoretical study was carried out on the influencing rule of different processing parameters on the bonding neck. FFF samples built with different processing parameters were designed and prepared according to fractional factorial design. The bonding neck of each sample was then measured by using a scanning electron microscope(SEM)， and a theoretical model of the bonding neck was established. The results showed that the processing parameters have a certain effect on the sample’s bonding neck. If the printing speed is appropriately reduced or the extrusion temperature， extrusion width， layer thickness and filling rate are increased， the bonding neck will be increased， but the improvement effect is limited， which proves that the model is accurate and reliable. References | Related Articles | Metrics

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Adaptive Neural Network Sliding Mode Control for the Fuel Cell Air Supply System ZHANG Chun-lei， LI He， DONG Mao-lin， ZHANG Sheng-jie 2022, 43 (9):  1270-1276.  DOI: 10.12068/j.issn.1005-3026.2022.09.008 Abstract ( 645 )   HTML ( 29)   PDF (798KB) ( 214 )   The air supply system of polymer electrolyte membrane fuel cell(PEMFC) is vulnerable to the negative impact of parameter uncertainties and external disturbances， and it is difficult to achieve high-precision mathematical modeling and robust control. An adaptive neural network sliding mode controller is designed to adjust the oxygen excess ratio of PEMFC air supply system to its optimal reference value so as to maintain the maximum system output net power and avoid oxygen starvation. The radial basis function(RBF) neural network is employed to approximate the dynamics of the unmodeled system online without prior information of the boundary of external disturbances and model parameter perturbations. To ensure the stability of the closed-loop system， the adaptive laws of neural network weights and sliding mode gains are derived by Lyapunov theory. The numerical simulation results demonstrate that the designed controller not only improves the dynamic behavior of the oxygen excess ratio control， but also effectively alleviates the large overshoot and chattering of the control input. References | Related Articles | Metrics

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Investigation on the Measurement and Evaluation of Abrasive Belt Surface Morphology ZHANG Wei-jian， GONG Ya-dong， ZHAO Xu， ZHAO Xian-li 2022, 43 (9):  1277-1282.  DOI: 10.12068/j.issn.1005-3026.2022.09.009 Abstract ( 611 )   HTML ( 23)   PDF (1614KB) ( 199 )   The non-contact measurement method is used to measure and evaluate the three-dimensional morphology of zirconia abrasive belts(P120， P320)and ceramic alumina belt(P120). The results show that the protrusion height of the zirconia abrasive belt and ceramic alumina belt is in the normal distribution and right-skewness distribution respectively. The protrusion area of the zirconia abrasive belt and ceramic alumina belt is both in the right polarized distribution. The protrusion height and area of abrasive grains decrease with the decrease of grain size. The protrusion height and area of abrasive grains in the ceramic alumina belt are smaller than those in the zirconia abrasive belt. The geometric shapes of the abrasive grains of the abrasive belts are similar to the spherical-top cone. The grain size has a significant effect on the spherical-top radius， i.e.， the smaller the grain size， the smaller the spherical-top radius， but the effect on the cone apex angle is not significant. There are great differences in the spherical-top radius and cone apex angle of the two abrasive belts with the same particle size. References | Related Articles | Metrics

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Research on Light-Curing Assisted Molding Process of Extrusion-based Ceramic 3D Printing WU Fei， LI Yi-neng， WANG Meng-hui 2022, 43 (9):  1283-1290.  DOI: 10.12068/j.issn.1005-3026.2022.09.010 Abstract ( 667 )   HTML ( 21)   PDF (1274KB) ( 241 )   3D printing technology based on direct ink writing(DIW) enables 3D printed materials to get rid of the limitation of material properties， and provides the possibility of additive manufacturing for a variety of materials. In order to ensure the excellent mechanical properties of ceramic materials， the technological parameters of 3D printing extrusion molding of ceramic materials were studied. According to the fluid theory calculations， Fluent was used to numerically simulate the process parameters such as the extrusion speed and the extrusion diameter that affect the small-diameter extrusion process of ceramic materials， and the relationship between the correlation extrusion process parameters and the extrusion amount was obtained. Based on the numerical simulation results， a test including motor extrusion speed， extrusion head caliber， printed moving speed， printed layer height， and laser curing power was given to analyze the different effects of various process parameters on extrusion forming processes. References | Related Articles | Metrics

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Theoretical and Experimental Investigation on the Three-Dimensional Surface Roughness of Fused Filament Fabrication Products JIANG Shi-jie， HU Ke， CHEN Pi-feng， ZHAN Ming 2022, 43 (9):  1290-1297.  DOI: 10.12068/j.issn.1005-3026.2022.09.011 Abstract ( 546 )   HTML ( 14)   PDF (1620KB) ( 104 )   Fused filament fabrication(FFF)is an additive manufacturing technology that forms three-dimensional(3D)entities by stacking and accumulating extruded material filaments. However， the surface quality of FFF products has obvious defects due to the layer-by-layer manufacturing characteristics. To effectively improve the FFF products’ surface quality， it is necessary to analyze the generation mechanism of surface roughness. Based on the bonding neck forming process， the surface profile of the material filament was investigated， and the theoretical model of the sample’s surface roughness in two directions(vertical and parallel to the fiber direction)was established based on the transverse and longitudinal bonding neck forming process. The FFF sample was prepared， and the surface roughness of the sample was obtained using a laser microscope. The theory and experimental results verified the correctness of the model， providing theoretical basis and technical support for improving the surface quality of FFF products. References | Related Articles | Metrics

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Flowmeter Method of Measuring the Pumping Speed of Miniature Sputter Ion Pump GENG Jian， WANG Xiao-dong， GUO Mei-ru， HUANG Hai-long 2022, 43 (9):  1298-1305.  DOI: 10.12068/j.issn.1005-3026.2022.09.012 Abstract ( 542 )   HTML ( 18)   PDF (1048KB) ( 162 )   The pumping speed measuring apparatus， which employs the flowmeter method， was introduced. The pressure was measured by using a spinning rotor gauge(SRG) under 1×10-4 to 1×10-2Pa， and the ionization vacuum gauge was used when the pressure was lower than 10-4Pa. A method of measuring the pumping speed and the outgassing rate of the extractor gauge was given. The pumping speed and the outgassing rate of the extractor gauge were measured under the pressure of 10-6 to 10-4Pa. The flowmeter method was used to measure the pumping speed of the miniature sputter ion pump(SIP)in nitrogen and helium. The discharge state of the miniature SIP under different pressures was analyzed using COMSOL， and the experimental results were in good agreement with the theoretical analysis. The combined standard uncertainty of the flowmeter method was less than 4.4%. References | Related Articles | Metrics

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Influencing Mechanism of Human-Computer Interaction Trust in Autonomous Vehicles SUN Xiao-feng， ZHAO Ying， LYU Chun-mei 2022, 43 (9):  1305-1313.  DOI: 10.12068/j.issn.1005-3026.2022.09.013 Abstract ( 899 )   HTML ( 44)   PDF (1005KB) ( 509 )   To explore the influencing factors and mechanism of people’s trust on autonomous vehicles(AVs)， the trust model of AVs was designed from six perspectives: information content， information carrier， information channel， system transparency， technical capability and situation management. The structure validity， convergent validity and discriminant validity of confirmatory factor analysis， the intermediary effect analysis and path analysis were used for the fitting test of the structural equation model. It was found that information channel， system transparency and information carrier have significant effect on AVs trust. Information content， information carrier and information channels not only affect AVs trust directly， but also affect AVs trust through the intermediary variable of system transparency. References | Related Articles | Metrics

Resources & Civil Engineering

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Analysis on Characteristics of Ground Surface Movement Before Landslide in Mining Area Based on Time Series InSAR HE Li-ming， PEI Pan-ke， WU Li-xin， ZHANG Xiang-ning 2022, 43 (9):  1314-1322.  DOI: 10.12068/j.issn.1005-3026.2022.09.014 Abstract ( 690 )   HTML ( 28)   PDF (2298KB) ( 193 )   According to the remote sensing monitoring method of the ground deformation before mine landslide， the discrimination basis of the reliability of different orbit SAR data sets was proposed， and the inducing factors of landslide were analyzed. Taking the slope of the Anqian Yabaling open-pit mine in Anshan city as an example， using 44 Sentinel-1 radar images(two groups of ascending orbits and one group of descending orbit)， the time series InSAR method was used to analyze the surface movement characteristics of the slope 6 months before the landslide occurred on November 25， 2019. The results show that the monitoring results obtained by different orbit data sets in the same studied area are different. The position of the top and rear edge of the landslide area showed an unusually strong acceleration within a period of time(approximately 45 days) before the landslide. The research results can provide new ideas for early identification of landslide hazard in mining areas using InSAR technology in the future. References | Related Articles | Metrics

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Experimental Study on Tailings Reconstructed Backfill Based on Facultative Anaerobic Bacteria MICP Technology JIN Chang-yu， FENG Qing-jie， WANG Qiang 2022, 43 (9):  1322-1328.  DOI: 10.12068/j.issn.1005-3026.2022.09.015 Abstract ( 546 )   HTML ( 16)   PDF (1457KB) ( 146 )   A tailing gluing method based on microbial induced calcium carbonate precipitation(MICP)technology was presented. Facultative anaerobic bacteria was used to glue tailing in sealed curing conditions， aiming to solve the problem that aerobic bacteria cannot be used in anoxia or anaerobic environment. The control variable method was used to explore the influencing factors of facultative anaerobic bacteria MICP technology in glue tailing test， in which four influencing factors were studied， namely the concentration of bacteria solution， the concentration of cementing solution， the particle size of tailing and the curing temperature. The results show that when the OD600 of the bacterial liquid is 1， and the concentration of acetate ion in the cementing solution is 0.6mol/L， the tailings is a mixture of tailings with various particle sizes， and when the curing temperature is 30℃， the cementing effect is best. It is found that the MICP technology of facultative anaerobic bacteria can effectively cementing tailings， which provides a solution for replacing cement by tailings cementing material. References | Related Articles | Metrics

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Research on the Self-balanced Method of Pile Bearing Capacity Considering Soil Continuity and Engineering Test WANG Shu-hong， SHI Yun-hao， ALIPUJIANG Jierula， JIANG Jian-hui 2022, 43 (9):  1329-1336.  DOI: 10.12068/j.issn.1005-3026.2022.09.016 Abstract ( 515 )   HTML ( 22)   PDF (2022KB) ( 210 )   The self-balanced test pile method is gradually popularized due to its convenience and economy. However， few studies were focused on the conversion coefficient involved in the process of converting this method into the static load-displacement curve. Because the settlement on the pile top is affected by soil continuity， the displacement difference on the pile top of the self-balanced test pile and the static load pile were analyzed using the Mindlin′s formula based on the comparative study of the self-balanced test pile method and the traditional vertical compression static load test method of single pile. An equivalent conversion method to determine the bearing capacity of self-balanced test pile was proposed in order to improve the empirical formula. The rationality of the improved method was verified by indoor simulation test as well as pile foundation engineering test of a super high-rise building in Shenyang. It is found that the self-balance conversion method taking the soil continuity in to account can significantly reduced the fitting error of the load-displacement curve. References | Related Articles | Metrics

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Deformation Characteristics and Vertical Earth Pressure Calculation of Low Fill Steel Corrugated Pipe Culverts WU Guan-qing， WEI Jin， YUE Xia-bing， YIN Zeng-liang 2022, 43 (9):  1337-1345.  DOI: 10.12068/j.issn.1005-3026.2022.09.017 Abstract ( 647 )   HTML ( 16)   PDF (1996KB) ( 155 )   The stress and deformation characteristics of steel corrugated pipe culverts and the distribution law of earth pressure around the pipe culvert during the dynamic filling process were analyzed. Based on the Marston’s theory， a calculation formula of vertical earth pressure was constructed and verified by experimental data and finite element calculation. The results show that the strain fluctuation increases with the filling height. When the filling height is 3.6m， the strain of the internal and external measuring points reaches the maximum values. After the filling completed， the strain of the internal measuring points can be both in tension or compression， while strain of the external measuring points are mainly in tension. The horizontal and vertical deformation increases with the increase of filling height at the pipe side， which takes on a vertical ellipse shape. The vertical earth pressure at the top of the pipe culvert is the largest， and the vertical earth pressure coefficient increases with the inclination angle. References | Related Articles | Metrics

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Research on Automatic Compliance Checking Method Based on BIM and Ontology Technology for Architectural Drawing WANG Wei-xin， JIA Jing， GUI Ke-pu， GAO Jie-ya 2022, 43 (9):  1346-1353.  DOI: 10.12068/j.issn.1005-3026.2022.09.018 Abstract ( 657 )   HTML ( 24)   PDF (2707KB) ( 278 )   Automatic compliance checking(ACC)of architectural design based on BIM and ontology technologies is of great significance in the field of intelligent construction. Most of the relevant research focused on the development of the code-compliance checking tools targeting specific standards and specifications， lacking the systematic and structured analysis of compliance checking rules(CCR)and the construction of the corresponding mapping toward BIM data. Taking 28 national standards for architectural design and green building as the research object， the CCR definition methods were analyzed， the statistical CCR classification was obtained， and the corresponding expression model based on the IFC standard was constructed. Considering the insufficient information in the BIM model， a method to fulfill semantic enrichment based on ontology and IFC attribute sets extension was proposed to optimize the overall code-compliance checking process of the BIM model. The optimized process was demonstrated and verified by applying the CCR of the design code for archives buildings and on the BIM model of an archives project. References | Related Articles | Metrics

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Study on Impermeability of Textile Reinforced Concrete GUO Jia-huan， WANG Bo-xin， ZHANG Tian-qi， WANG Shi-yu 2022, 43 (9):  1354-1360.  DOI: 10.12068/j.issn.1005-3026.2022.09.019 Abstract ( 541 )   HTML ( 20)   PDF (2637KB) ( 172 )   Water in the external environment of the textile reinforced concrete(TRC)migrates along the direction of the internal directional fiber bundles， which causes the degradation of the impermeability of the internal matrix of the textile reinforced concrete. This paper studies the effects of the water-cement ratios， the textile sizes， and the fiber bundle Tex content in concrete matrix on the impermeability of TRC both in macro and micro scale. Meanwhile， the roughness of concrete was evaluated based on fractal dimension through nuclear magnetic resonance test. The results show that the impermeability of TRC decreases with the decrease of the mesh size of the textile， the increase of the Tex content and the increase of the water-cement ratio. A TRC seepage prediction model was also established based on the dimensional analysis method and permeability test， which can be used to describe the impermeability performance of TRC. References | Related Articles | Metrics

Management Science

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To Avoid or Imitate? Influence of Colleagues′Unethical Pro-family Behavior on Employees’ Unethical Pro-family Behavior ZHANG Lan-xia， LI Mo-zhi， MAO Meng-yu 2022, 43 (9):  1361-1368.  DOI: 10.12068/j.issn.1005-3026.2022.09.020 Abstract ( 607 )   HTML ( 23)   PDF (522KB) ( 223 )   Based on the affective event theory， taking event-emotion-attitude-behavior as the clue， a dual interpersonal influence model of colleagues’ unethical pro-family behavior(UPFB)was constructed. Based on 529 valid sample data at two time points， the structural equation model(SEM)was applied to conduct empirical tests. The results showed that colleagues’ UPFB positively affects employees’ UPFB through admiration and indirect learning， whereas colleagues’ UPFB can negatively affect employees’ UPFB via aversion and interactive avoidance. The findings not only enrich the existing research on UPFB and reveal the black box of the dual interpersonal influences of UPFB， but also provide beneficial guidance for organizations to effectively prevent the occurrence of UPFB to promote the benign development of organizations. References | Related Articles | Metrics