Transient acceleration waveform replication of electro-hydraulic systems using convex combined adaptive controller with input shaping technique.

Electro-hydraulic systems are extensively utilized to generate desired acceleration waveforms to provide a vibration environment for testing the performance and reliability of objects in various industrial applications. However, as electro-hydraulic systems are often affected by some inevitable drawbacks resulted from hydraulic nonlinearities, unwanted dynamic variations and disturbances, the generated acceleration waveform is generally far behind the expectation. In this paper, a convex combined adaptive controller with input shaping technique is proposed for enhancing the transient acceleration waveform replication accuracy of electro-hydraulic systems. The proposed controller is comprised of a three variable controller at the bottom level, an input shaping technique controller at the middle level, and a convex combined adaptive controller at the upper level. The three variable controller is firstly utilized for the establishment of a fundamental closed-loop acceleration control system, and then the input shaping technique controller is constructed by introducing an offline designed inverse prefilter utilizing the multi-innovation recursive least squares algorithm and the zero magnitude error tracking algorithm. The convex combined adaptive controller at the upper level is comprised of two individual adaptive filters with high and low step sizes, which provides the merits of fast convergence rate and high tracking accuracy, and it is further exploited to address for system's dynamic variations, model uncertainties and unexpected perturbations. Comparative experiments of the proposed controller with a manually generated random waveform and a recorded earthquake waveform as the testing inputs are conducted on a typical electro-hydraulic test bench, and the corresponding results demonstrate the feasibility and superiority of the proposed controller in improving the transient acceleration waveform replication performance of electro-hydraulic systems.

An Adaptive Infrared Small-Target-Detection Fusion Algorithm Based on Multiscale Local Gradient Contrast for Remote Sensing.

Space vehicles such as missiles and aircraft have relatively long tracking distances. Infrared (IR) detectors are used for small target detection. The target presents point target characteristics, which lack contour, shape, and texture information. The high-brightness cloud edge and high noise have an impact on the detection of small targets because of the complex background of the sky and ground environment. Traditional template-based filtering and local contrast-based methods do not distinguish between different complex background environments, and their strategy is to unify small-target template detection or to use absolute contrast differences; so, it is easy to have a high false alarm rate. It is necessary to study the detection and tracking methods in complex backgrounds and low signal-to-clutter ratios (SCRs). We use the complexity difference as a prior condition for detection in the background of thick clouds and ground highlight buildings. Then, we use the spatial domain filtering and improved local contrast joint algorithm to obtain a significant area. We also provide a new definition of gradient uniformity through the improvement of the local gradient method, which could further enhance the target contrast. It is important to distinguish between small targets, highlighted background edges, and noise. Furthermore, the method can be used for parallel computing. Compared with the traditional space filtering algorithm or local contrast algorithm, the flexible fusion strategy can achieve the rapid detection of small targets with a higher signal-to-clutter ratio gain (SCRG) and background suppression factor (BSF).

Sliding Friction and Wear Characteristics of Wire Rope Contact with Sheave under Long-Distance Transmission Conditions.

Wire rope has different degrees of surface wear under long-distance transmission conditions, which leads to performance degradation and greatly threatens its safety and reliability in service. In this paper, friction and wear tests between the transmission wire rope and sheave under different sliding velocities (from 0.8 m/s to 1.6 m/s) were carried out using a homemade test rig. The material of the steel wires was low carbon steel, and pulley material was ASTM A36 steel plate. The sliding friction coefficient (COF), friction temperature rise, wear characteristic parameters and wear mechanisms of the wire rope were analyzed. Additionally, the effect of different wear on the fracture behavior of the wire rope was investigated by a breaking tensile test. The results show that the average COF in the relatively stable stage decreased from approximately 0.58 to 0.51 with the increase of sliding velocity. The temperature rise of the wire rope increased rapidly with an increase of sliding velocity, from approximately 52.7 °C to 116.2 °C. The maximum wear width was the smallest when the sliding velocity was 1.2 m/s (approximately 1.5 mm). The surface wear was characterized by spalling, furrowing and plastic deformation, which are strongly affected by the sliding velocity. The wear mechanisms of the wire rope were mainly adhesive wear and abrasive wear. Surface wear changes the fracture morphology of the wire rope and accelerates its fracture speed.

Networking Feasibility of Quantum Key Distribution Constellation Networks.

Quantum key distribution constellation is the key to achieve global quantum networking. However, the networking feasibility of quantum constellation that combines satellite-to-ground accesses selection and inter-satellite routing is faced with a lack of research. In this paper, satellite-to-ground accesses selection is modeled as problems to find the longest paths in directed acyclic graphs. The inter-satellite routing is interpreted as problems to find a maximum flow in graph theory. As far as we know, the above problems are initially understood from the perspective of graph theory. Corresponding algorithms to solve the problems are provided. Although the classical discrete variable quantum key distribution protocol, i.e., BB84 protocol, is applied in simulation, the methods proposed in our paper can also be used to solve other secure key distributions. The simulation results of a low-Earth-orbit constellation scenario show that the Sun is the leading factor in restricting the networking. Due to the solar influence, inter-planar links block the network periodically and, thus, the inter-continental delivery of keys is restricted significantly.

Responsive surface bioaffinity binding to construct flexible and sensitive electrochemical aptasensors.

The development of simple, flexible, cost-effective and sensitive electrochemical biosensing strategies is highly desirable to advance their applications in disease diagnostics and clinical biomedicine. Herein, we fabricated a new enzyme-based electrochemical aptasensor with the use of adenosine triphosphate (ATP) and thrombin as model targets on the basis of a responsive surface bioaffinity binding strategy. It took full advantage of an immobilized complex duplex probe (hybrids of a hairpin-like aptamer probe with a digoxigenin (Dig)-labeled immobilization strand) to effectively inhibit the approach of the bulky horseradish peroxidase linked-anti-Dig antibody (anti-Dig-HRP) to the Dig on the electrode due to the steric effect. The target recognition dissociated the aptamer strand from the duplex probe and exposed the Dig for its effective binding with anti-Dig-HRP. The successive electrocatalysis offered a significantly amplified electrochemical signal correlated with the target recognition event. Sensitive detection toward ATP and thrombin was achieved with detection limits of 0.87 nM and 6.3 pM, respectively. The proposed strategy is simple and sensitive without any complex operations that hinder many amplified aptasensors. Also, the target recognition and signal reporting units are relatively isolated, making the biosensor fabrication more flexible. It thus provided a new and versatile pathway for sensitive biosensor fabrication.

Investigation on acceleration performance improvement of electro-hydraulic shake tables using parametric feedforward compensator and functional link adaptive controller.

Electro-hydraulic shake table (EHST), also known as earthquake simulator, is of considerable significance in civil engineering for evaluating structures or infrastructures subjected to earthquake ground motions. However, reproduction of prescribed accelerations at table for EHST systems remains to be imperfect as the whole systems are confronted with hydraulic nonlinearity, varying dynamics, unexpected disturbance, etc. For enhancing the acceleration tracking performance of EHST systems, an acceleration waveform reproduction strategy using offline designed parametric feedforward compensator (PFC) and online functional link adaptive controller (FLAC) is proposed in this paper. The PFC controller is established on the basis of classical three variable controller (TVC) as an inner compensation loop, in which multi-innovation forgetting gradient (MIFG) algorithm together with zero magnitude error tracking (ZMET) technique are utilized during the design process. The FLAC controller is combined to the PFC controller as an outer loop for further acceleration enhancement purpose, and the controller's nonlinear mapping ability is achieved with trigonometric expansion implementation. Following theoretical analysis of the proposed controller, comparative experiments are performed on an established unidirectional EHST test bench with both random and real-time recorded earthquake input waveforms. The experimental results validate the feasibility and superiority of the proposed acceleration reproduction strategy.

Reduced Graphene Oxide-Zirconium Dioxide-Thionine Nanocomposite Integrating Recognition, Amplification, and Signaling for an Electrochemical Assay of Protein Kinase Activity and Inhibitor Screening.

Protein kinase activity analysis is essential and important for elucidation of many fundamental biological processes, disease diagnosis, and drug discovery. Herein, a novel electrochemical biosensing method for protein kinase (PKA) activity was demonstrated by the use of a reduced graphene oxide-zirconium dioxide-thionine (rGO-ZrO2-Thi) nanocomposite, which interestingly served as an integral phosphopeptide-recognizing, signal amplifying and reporting platform. The ZrO2 nanoparticle-decorated reduced graphene oxide (rGO-ZrO2) was first prepared by a hydrothermal reaction route, and then the thionine was conjugated onto the rGO surface via π-π stacking as an excellent electrochemical probe. The prepared rGO-ZrO2-Thi nanocomposites were well-characterized by various techniques. With the full advantage of specific recognition of ZrO2 nanoparticles for the phosphate group, signal amplification, and transduction of abundant thionines onto the rGO surface, and excellent conductivity of rGO, the rGO-ZrO2-Thi nanocomposite endowed a label-free and one-step electrochemical analysis of kemptide phosphorylation catalyzed by PKA. The detection limit for PKA activity was experimentally achieved as 0.005 U/mL, which was evidently lower than most of the reported methods. The proposed sensing strategy could be also applied for an efficient inhibitor evaluation. Therefore, it offered an excellent pathway for a generic and sensitive electrochemical assay of PKA activity and inhibitor.

Wire rope tension control of hoisting systems using a robust nonlinear adaptive backstepping control scheme.

This paper concerns wire rope tension control of a double-rope winding hoisting system (DRWHS), which consists of a hoisting system employed to realize a transportation function and an electro-hydraulic servo system utilized to adjust wire rope tensions. A dynamic model of the DRWHS is developed in which parameter uncertainties and external disturbances are considered. A comparison between simulation results using the dynamic model and experimental results using a double-rope winding hoisting experimental system is given in order to demonstrate accuracy of the dynamic model. In order to improve the wire rope tension coordination control performance of the DRWHS, a robust nonlinear adaptive backstepping controller (RNABC) combined with a nonlinear disturbance observer (NDO) is proposed. Main features of the proposed combined controller are: (1) using the RNABC to adjust wire rope tensions with consideration of parameter uncertainties, whose parameters are designed online by adaptive laws derived from Lyapunov stability theory to guarantee the control performance and stability of the closed-loop system; and (2) introducing the NDO to deal with uncertain external disturbances. In order to demonstrate feasibility and effectiveness of the proposed controller, experimental studies have been conducted on the DRWHS controlled by an xPC rapid prototyping system. Experimental results verify that the proposed controller exhibits excellent performance on wire rope tension coordination control compared with a conventional proportional-integral (PI) controller and adaptive backstepping controller.

Discrete Element Method Simulations of the Inter-Particle Contact Parameters for the Mono-Sized Iron Ore Particles.

Aiming at predicting what happens in reality inside mills, the contact parameters of iron ore particles for discrete element method (DEM) simulations should be determined accurately. To allow the irregular shape to be accurately determined, the sphere clump method was employed in modelling the particle shape. The inter-particle contact parameters were systematically altered whilst the contact parameters between the particle and wall were arbitrarily assumed, in order to purely assess its impact on the angle of repose for the mono-sized iron ore particles. Results show that varying the restitution coefficient over the range considered does not lead to any obvious difference in the angle of repose, but the angle of repose has strong sensitivity to the rolling/static friction coefficient. The impacts of the rolling/static friction coefficient on the angle of repose are interrelated, and increasing the inter-particle rolling/static friction coefficient can evidently increase the angle of repose. However, the impact of the static friction coefficient is more profound than that of the rolling friction coefficient. Finally, a predictive equation is established and a very close agreement between the predicted and simulated angle of repose is attained. This predictive equation can enormously shorten the inter-particle contact parameters calibration time that can help in the implementation of DEM simulations.

Effects of Strand Lay Direction and Crossing Angle on Tribological Behavior of Winding Hoist Rope.

Friction and wear behavior exists between hoisting ropes that are wound around the drums of a multi-layer winding hoist. It decreases the service life of ropes and threatens mine safety. In this research, a series of experiments were conducted using a self-made test rig to study the effects of the strand lay direction and crossing angle on the winding rope's tribological behavior. Results show that the friction coefficient in the steady-state period shows a decreasing tendency with an increase of the crossing angle in both cross directions, but the variation range is different under different cross directions. Using thermal imaging, the high temperature regions always distribute along the strand lay direction in the gap between adjacent strands, as the cross direction is the same with the strand lay direction (right cross contact). Additionally, the temperature rise in the steady-state increases with the increase of the crossing angle in both cross directions. The differences of the wear scar morphology are obvious under different cross directions, especially for the large crossing angle tests. In the case of right cross, the variation range of wear mass loss is larger than that in left cross. The damage that forms on the wear surface is mainly ploughing, pits, plastic deformation, and fatigue fracture. The major wear mechanisms are adhesive wear, and abrasive and fatigue wear.

Impact Load Behavior between Different Charge and Lifter in a Laboratory-Scale Mill.

The impact behavior between the charge and lifter has significant effect to address the mill processing, and is affected by various factors including mill speed, mill filling, lifter height and media shape. To investigate the multi-body impact load behavior, a series of experiments and Discrete Element Method (DEM) simulations were performed on a laboratory-scale mill, in order to improve the grinding efficiency and prolong the life of the lifter. DEM simulation hitherto has been extensively applied as a leading tool to describe diverse issues in granular processes. The research results shown as follows: The semi-empirical power draw of Bond model in this paper does not apply very satisfactorily for the ball mills, while the power draw determined by DEM simulation show a good approximation for the measured power draw. Besides, the impact force on the lifter was affected by mill speed, grinding media filling, lifter height and iron ore particle. The maximum percent of the impact force between 600 and 1400 N is at 70-80% of critical speed. The impact force can be only above 1400 N at the grinding media filling of 20%, and the maximum percent of impact force between 200 and 1400 N is obtained at the grinding media filling of 20%. The percent of impact force ranging from 0 to 200 N decreases with the increase of lifter height. However, this perfect will increase above 200 N. The impact force will decrease when the iron ore particles are added. Additionally, for the 80% of critical speed, the measured power draw has a maximum value. Increasing the grinding media filling increases the power draw and increasing the lifter height does not lead to any variation in power draw.

Satellite-to-ground quantum key distribution.

Quantum key distribution (QKD) uses individual light quanta in quantum superposition states to guarantee unconditional communication security between distant parties. However, the distance over which QKD is achievable has been limited to a few hundred kilometres, owing to the channel loss that occurs when using optical fibres or terrestrial free space that exponentially reduces the photon transmission rate. Satellite-based QKD has the potential to help to establish a global-scale quantum network, owing to the negligible photon loss and decoherence experienced in empty space. Here we report the development and launch of a low-Earth-orbit satellite for implementing decoy-state QKD-a form of QKD that uses weak coherent pulses at high channel loss and is secure because photon-number-splitting eavesdropping can be detected. We achieve a kilohertz key rate from the satellite to the ground over a distance of up to 1,200 kilometres. This key rate is around 20 orders of magnitudes greater than that expected using an optical fibre of the same length. The establishment of a reliable and efficient space-to-ground link for quantum-state transmission paves the way to global-scale quantum networks.

Ground-to-satellite quantum teleportation.

An arbitrary unknown quantum state cannot be measured precisely or replicated perfectly. However, quantum teleportation enables unknown quantum states to be transferred reliably from one object to another over long distances, without physical travelling of the object itself. Long-distance teleportation is a fundamental element of protocols such as large-scale quantum networks and distributed quantum computation. But the distances over which transmission was achieved in previous teleportation experiments, which used optical fibres and terrestrial free-space channels, were limited to about 100 kilometres, owing to the photon loss of these channels. To realize a global-scale 'quantum internet' the range of quantum teleportation needs to be greatly extended. A promising way of doing so involves using satellite platforms and space-based links, which can connect two remote points on Earth with greatly reduced channel loss because most of the propagation path of the photons is in empty space. Here we report quantum teleportation of independent single-photon qubits from a ground observatory to a low-Earth-orbit satellite, through an uplink channel, over distances of up to 1,400 kilometres. To optimize the efficiency of the link and to counter the atmospheric turbulence in the uplink, we use a compact ultra-bright source of entangled photons, a narrow beam divergence and high-bandwidth and high-accuracy acquiring, pointing and tracking. We demonstrate successful quantum teleportation of six input states in mutually unbiased bases with an average fidelity of 0.80 ± 0.01, well above the optimal state-estimation fidelity on a single copy of a qubit (the classical limit). Our demonstration of a ground-to-satellite uplink for reliable and ultra-long-distance quantum teleportation is an essential step towards a global-scale quantum internet.

Acceleration tracking control combining adaptive control and off-line compensators for six-degree-of-freedom electro-hydraulic shaking tables.

An electro-hydraulic shaking table (EHST) is an essential experimental facility to simulate in real-time actual vibration situations. An adaptive controller combined with off-line compensators is proposed to improve the acceleration frequency bandwidth and tracking accuracy of a six-degree-of-freedom (6-DOF) EHST. A servo controller has been employed to implement acceleration closed-loop and coordinate control of the 6-DOF EHST. A recursive extended least-squares algorithm is employed to identify acceleration closed-loop transfer functions and a zero-phase-error tracking controller is used to design off-line inverse model compensators using the identified transfer functions. However, the off-line compensators cannot compensate in real-time varying dynamics of the 6-DOF EHST; so an online adaptive controller with a least-mean-squares (LMS) algorithm based on a delay compensator is employed. The proposed controller combines advantages of the off-line compensators and the online adaptive controller, which guarantees both a fast rate of convergence of the LMS algorithm and high-fidelity acceleration tracking accuracy of the 6-DOF EHST. Some experimental studies have been conducted on a 6-DOF EHST and experimental results show that acceleration tracking control performances, including the rate of convergence of the LMS algorithm and acceleration tracking accuracy, have been improved compared to a conventional three-variable controller and adaptive controllers.

Satellite-based entanglement distribution over 1200 kilometers.

Long-distance entanglement distribution is essential for both foundational tests of quantum physics and scalable quantum networks. Owing to channel loss, however, the previously achieved distance was limited to ~100 kilometers. Here we demonstrate satellite-based distribution of entangled photon pairs to two locations separated by 1203 kilometers on Earth, through two satellite-to-ground downlinks with a summed length varying from 1600 to 2400 kilometers. We observed a survival of two-photon entanglement and a violation of Bell inequality by 2.37 ± 0.09 under strict Einstein locality conditions. The obtained effective link efficiency is orders of magnitude higher than that of the direct bidirectional transmission of the two photons through telecommunication fibers.

Real-time tracking control of electro-hydraulic force servo systems using offline feedback control and adaptive control.

This paper focuses on an application of an electro-hydraulic force tracking controller combined with an offline designed feedback controller (ODFC) and an online adaptive compensator in order to improve force tracking performance of an electro-hydraulic force servo system (EHFS). A proportional-integral controller has been employed and a parameter-based force closed-loop transfer function of the EHFS is identified by a continuous system identification algorithm. By taking the identified system model as a nominal plant model, an H∞ offline design method is employed to establish an optimized feedback controller with consideration of the performance, control efforts, and robustness of the EHFS. In order to overcome the disadvantage of the offline designed controller and cope with the varying dynamics of the EHFS, an online adaptive compensator with a normalized least-mean-square algorithm is cascaded to the force closed-loop system of the EHFS compensated by the ODFC. Some comparative experiments are carried out on a real-time EHFS using an xPC rapid prototype technology, and the proposed controller yields a better force tracking performance improvement.

Computational fluid dynamics modeling of rope-guided conveyances in two typical kinds of shaft layouts.

The behavior of rope-guided conveyances is so complicated that the rope-guided hoisting system hasn't been understood thoroughly so far. In this paper, with user-defined functions loaded, ANSYS FLUENT 14.5 was employed to simulate lateral motion of rope-guided conveyances in two typical kinds of shaft layouts. With rope-guided mine elevator and mine cages taken into account, results show that the lateral aerodynamic buffeting force is much larger than the Coriolis force, and the side aerodynamic force have the same order of magnitude as the Coriolis force. The lateral aerodynamic buffeting forces should also be considered especially when the conveyance moves along the ventilation air direction. The simulation shows that the closer size of the conveyances can weaken the transverse aerodynamic buffeting effect.

A novel energy recovery system for parallel hybrid hydraulic excavator.

Hydraulic excavator energy saving is important to relieve source shortage and protect environment. This paper mainly discusses the energy saving for the hybrid hydraulic excavator. By analyzing the excess energy of three hydraulic cylinders in the conventional hydraulic excavator, a new boom potential energy recovery system is proposed. The mathematical models of the main components including boom cylinder, hydraulic motor, and hydraulic accumulator are built. The natural frequency of the proposed energy recovery system is calculated based on the mathematical models. Meanwhile, the simulation models of the proposed system and a conventional energy recovery system are built by AMESim software. The results show that the proposed system is more effective than the conventional energy saving system. At last, the main components of the proposed energy recovery system including accumulator and hydraulic motor are analyzed for improving the energy recovery efficiency. The measures to improve the energy recovery efficiency of the proposed system are presented.

Bond graph modeling and validation of an energy regenerative system for emulsion pump tests.

The test system for emulsion pump is facing serious challenges due to its huge energy consumption and waste nowadays. To settle this energy issue, a novel energy regenerative system (ERS) for emulsion pump tests is briefly introduced at first. Modeling such an ERS of multienergy domains needs a unified and systematic approach. Bond graph modeling is well suited for this task. The bond graph model of this ERS is developed by first considering the separate components before assembling them together and so is the state-space equation. Both numerical simulation and experiments are carried out to validate the bond graph model of this ERS. Moreover the simulation and experiments results show that this ERS not only satisfies the test requirements, but also could save at least 25% of energy consumption as compared to the original test system, demonstrating that it is a promising method of energy regeneration for emulsion pump tests.