Table of Content

  

20 October 2014
Volume 44 Issue 5

Design and implementation of cloud storage system for accompany robot

ZHOU Fengyu, ZHAO Wenfei, TIAN Tian, CHEN Hongxing, CHEN Zhumin

JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE). 2014, 44(5):  1-6.  doi:10.6040/j.issn.1672-3961.0.2014.240

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Accompany robots are designed for family, hospital, gerocomium, etc. In order to effectively manage the medical information of scattered patients, a cloud storage platform unifying distributed accompany robots was established. Based on Web service application, it described the service request from robot through WSDL(Web Services Description Language), the SOAP (Simple Object Accessed Protocol) protocol was used as the communication protocol between the clouds and robot. Service calling was realized, which solved problems of huge account of data and concurrency issues. Experimental results showed that the design of cloud system of the accompany robot has stable performance, scalability, strong characteristics. It could meet the environment demand of data storage better, and it was worth of spreading.

Motion control system based on real-time ethernet

JI Shuai, ZHANG Chengrui, SUN Shuren, HU Tianliang

JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE). 2014, 44(5):  7-13.  doi:10.6040/j.issn.1672-3961.0.2013.201

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A real-time Ethernet named EtherMAC (Ethernet for Manufacture Automation Control) was developped for open computer numerical control system. A standard industrial personal computer (IPC) based master node and field programmable gate array (FPGA) based slave nodes were employed in EtherMAC, as neither dedicated network interface card (NIC) nor application specific integrated circuit (ASIC) chips were mandatory, the system was open in hardware architecture. The computation ability of IPC and hard real-time property of FPGA were combined together with Ethernet in this way. By adopting the first slave node to manage the communication and distributed clock, time critical performance could be achieved even the master node only with soft real-time performance. Experimental results showed that communication period less than 1 ms and synchronization precision within 100 ns could be achieved by EtherMAC, which were enough for motion control systems demanded critical real-time and synchronization.

Sparse representation tracking method based on locality sensitive histogram

GE Kairong, CHANG Faliang, DONG Wenhui

JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE). 2014, 44(5):  14-19.  doi:10.6040/j.issn.1672-3961.0.2014.090

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In order to solve the problems of illumination and pose change during target tracking, a sparse representation tracking method based on local sensitive histogram was proposed. Local sensitive histogram features of multiple candidate targets were extracted, and sparse representation coefficient of each candidate target was calculated based on template dictionary by using modified L1 norm model. Then, the weight of each candidate target was calculated. The candidate target which had the largest weight was selected as tracking result. Experimental results demonstrated that the method can track the target accurately and effectively and has advantage in illumination and pose change.

Stabilization analysis for dissipative hamilton control systems with actuator saturation

JIA Dandan, WEI Airong

JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE). 2014, 44(5):  20-28.  doi:10.6040/j.issn.1672-3961.0.2014.035

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The finite gain stabilization of the dissipative Hamilton systems with actuator saturation was investigated. The stability and dynamic performance of the system were seriously influenced by saturation. The globally asymptotical stabilization of a closed-loop system was received with the static output feedback. Then, under the evolution of nonlinear functions of the system, the L₂ gain stabilization of the closed-loop system was received, while the estimated value of gain was obtained. The results were applied to the system with excitation and steam-valving control. The example was given to illustrate the efficiency of the proposed method.

Link-based trusted cluster model for wireless sensor network

CHENG Tianliang, ZHAI Yuqing

JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE). 2014, 44(5):  29-34.  doi:10.6040/j.issn.1672-3961.0.2013.286

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The trusted cluster model for wireless sensor network was proposed to detect the abnormal nodes effectively by using link of social network. Trust was divided into permanent trust and temporary trust. Each nodes reputation was calculated to detect the abnormal nodes combining permanent trust with temporary trust. In the experiments, the threshold value was discussed and the proposed model was compared with other models. The results showed the link-based trusted cluster model for wireless sensor network was better than GTMS(group-based trust management scheme)and RFSN(reputation-based framework for sensor network)in detecting the abnormal nodes.

Experiments on influence factors of dynamic shear modulus and damping ratio of unsaturated soil

FU Chang, JIANG Mingjing, SHEN Zhifu, WANG Huaning, WU Xiaofeng

JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE). 2014, 44(5):  35-41.  doi:10.6040/j.issn.1672-3961.0.2013.345

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In order to guide the quick preparation of an experimental landing ground in Beijing, several resonant column tests were conducted on unsaturated soils sampled in-situ to study the effects of moisture content, dry density and confining pressure on dynamic shear modulus and damping ratio by using DRNEVICH LONG-TOR resonant column apparatus. The results showed that the dynamic shear modulus increased with moisture content increasing, while the damping ratio showed negligible correlation with moisture in low moisture content range. The dynamic shear modulus increased while the damping ratio tended to decrease due to either the increasing of dry density or confining pressure. The damping ratio and dynamic shear modulus ratio showed perfectly correlated linearity. The dynamic mechanical responses of different soil were different with different soil, and this was necessary to study the dynamic mechanical responses before landing ground preparation.

Experimental study on shear strength of cement-treated weathered sand under the condition of freeze-thaw cycles

YANG Jun, YANG Zhi

JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE). 2014, 44(5):  42-48.  doi:10.6040/j.issn.1672-3961.0.2013.303

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Different content of cement was put into the weathered aggregate with the mass ratio of 3%, 5%, 7%, 9% respectively. The freezing-thawing cycles test was done 1,3,5,7,9 times separately in the freeing test chamber after 7days' standard conditions maintenance at the temperature during -15～15 ℃. Then the direct shear test was done on the strain-controlled direct shear apparatus, and the angle of internal friction and cohesive force change law was obtained for cement stabilization with weathered aggregate in China Three Gorges reservoir area after different times of freezing-thawing cycles test. Based on the Coulomb theory, the change law of shear strength of cement stabilization with weathered aggregate was calculated, which could provide theoretical basis and experiments directions for the weathered aggregate used for the subgrade in China Three Gorges reservoir area.

Dynamic interaction and damage analysis of large runaway vehicle and tunnel lining

GAO Zhijun, CUI Xinzhuang, SUI Wei, GUO Hong, LIU Hang, LI Changyi, FENG Hongbo

JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE). 2014, 44(5):  49-57.  doi:10.6040/j.issn.1672-3961.0.2014.156

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Based on dynamic finite element method, the dynamic interaction under different crash conditions between the tunnel lining and large vehicle and the dynamic response of them were studied. The results showed that in the same collision angle, the tensile damage value of the tunnel lining increased with the vehicles speeding up, and with the collision angle increasing at the same velocity. In addition, the increasing of the velocity and the angle of crash produced higher acceleration to the passengers, which meant a worse damage. Numerical simulation was carried out for an accident occurred in the Panlong Tunnel on the Jingfu Expressway (2009), and the results of the simulation was highly consistent with the appearance of the tunnel lining after the accident and the ultrasonic test image. The permeability coefficient of the concrete in the damage areas increased apparently, which led to a higher probability of water leakage for the tunnel lining.

Research on quantitative analysis of water inrush through risk based on fault impact factor and fault fractal dimension characteristics

GUO Xinshan, SHI Longqing

JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE). 2014, 44(5):  58-64.  doi:10.6040/j.issn.1672-3961.0.2014.152

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Xinwen coalfield was severely threatened by water inrush in ordovician limestone karst region,which was the main factor inducing water inrush accidents in mines. Aiming to solve the water inrush induced by fault, quantitative analysis system on water inrush in ordovician according to fault was established based on a systematical summary of the factures of the distribution and regularity of the fault structure in Xinwen coalfield. The fault influencing factor was introduced to quantitatively analyze the risk of the water inrush in floor. Nonlinear theory was adopted to quantitatively study the development characteristics of colliery geological structure. Features of fractal dimension in mining were revealed. Features of fractal dimension in fault and risk zoning principle and method of its influence on what inrush were proposed. A method by merging fault influencing factor contour and fault fractal dimension contour was adopted and a distribution on fractures in ordovician limestone karst region in Xinwen coalfield was acquired. According to water abundance in different unit karst, water inrush risk regions was pointed, which was conducive to control the water inrush disaster in coal mining.

The preparation of a new kind of modified chitosan material and its removing mechanism of tetracycline from waste water

ZHAO Wenjie, SUN Xuefei, DING Ke, WANG Shuguang

JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE). 2014, 44(5):  65-71.  doi:10.6040/j.issn.1672-3961.0.2013.329

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Chitosan was cross-linked and loaded by MnO₂ to improve the adsorption capacity of traditional chitosan material. Scanning electron microscopy(SEM)was used to characterize the materials. The effects of loading MnO₂, temperature, pH and ion concentration on the adsorption of TC were investigated comprehensively. When loading rate of MnO₂ was 0.344 mg/g, T=318 K, pH=4～11, and the ion concentration was 0, the adsorption efficiency was the best. Pseudo-second-order kinetic model and Freundlich adsorption isotherm fitted well to the adsorption process In addition, the adsorption process was spontaneous and endothermic. The results also showed that the new chitosan material performed well after being filled in column by continuous operation.

The mechanism of effect on N₂O production of carbon source types in denitrifying phosphorus removal process

ZHENG Nan, LI Cong, XIE Huijun, ZHANG Jian

JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE). 2014, 44(5):  72-77.  doi:10.6040/j.issn.1672-3961.0.2013.348

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In order to reduce the N₂O production in denitrifying phosphorus removal process,the acetate, the mixture of acetate and propionate, and the propionate were used as carbon sources to study their effects on N₂O production in reaction systems. The results showed that in denitrifying phosphorus removal process, the production of N₂O was the most with acetate as carbon source, the second with the mixture of acetate and propionate as carbon source, and the lest with the propionate as carbon source. When use the acetate, the mixture of acetate and propionate, and the propionate as carbon sources, the ratio of N₂O production to the total nitrogen(TN)removal were 8.67%, 1.48% and 0.72% respectively. Different carbon sources resulted in different denitrification process. The ratio of nitrate reduction to nitrite reduction(N1/N2)in propionate system was the lowest, which indicated that there were a few of nitrite accumulated with the propionate as carbon source. At the same time, PHV was the main composition in total PHA in the mixed acid and propionate system. The increasing content of PHV declined the N₂O production. In conclusion, using propionate as carbon source in denitrifying phosphorus removal systems had a significant advantage to reduce the production of N₂O, while the effect of this process on removal of nitrogen and phosphorus still needed to be further optimized.

Influence of pressure on active-air biomass gasification

SUN Hongyu, ZHANG Zhaoling, DONG Yuping

JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE). 2014, 44(5):  78-82.  doi:10.6040/j.issn.1672-3961.0.2013.318

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The influence of bed pressure was investigate by the method of experiment. Air was used as gasifying agent during the biomass gasification experiment. Analysised the inner relationship of pressure, temperature and calorific value. The study results showed that optimum pressure range was 1.6-2.9 kPa in the experimental condition. In this pressure environment, the temperature of oxide layer reached 1 000-1 300 ℃, calorific value reached 4 900-5 700 kJ/m³, tar content decreased with the increasing temperature. However the oxide layer temperature decreased when pressure drop exceed 2.9 kPa, therefore, the influence of pressure on gas quality appeared fluctuating trend, research results could provide a reference for the study on kinetics of reaction of biomass gasification.

Fitting heat transfer coefficient correlation on flow boiling and error analysis for the helically coiled tube

JI Cuilian, HAN Jitian, YIN Jing, CHEN Changnian, REN Libo, KONG Lingjian

JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE). 2014, 44(5):  83-87.  doi:10.6040/j.issn.1672-3961.0.2014.020

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In order to develop flow boiling heat transfer coefficient correlations for helically coiled tube, based on the mechanism of flow boiling heat transfer. The D_n factor was introduced to consider complex pipeline effects on flow boiling heat transfer. The index of the D_n factor was gained by using the regression method. And relation of the ratio of the experimental and predicted values with the mass flow rate and vapor quality was further analyzed. A new heat transfer coefficient correlation of flow boiling in helically coiled tube was developed. The applicability for the heat transfer coefficient correlation was validated by experimental data of flow boiling heat transfer in helically coiled tube with R134a. The MRE and the RMSE were used to measure the accuracy of regression results, with MRE and RMSE being 8.23% and 0.532, respectively. The MRE and the RMSE were small, the regression results conformed to the requirements. Therefore, the method is very applicable, and is worthy of popularization.

The effects of weak magnetic field on supercooling process of deionized water and sucrose solution

LI Wenbo, ZHAO Hongxia, HAN Jitian, LAI Yanhua

JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE). 2014, 44(5):  88-94.  doi:10.6040/j.issn.1672-3961.0.2014.004

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In order to study changing laws of supercooling degree and supercooling time of solution under different magnetic field intensity, supercooling processes of deionized water and sucrose solution under a week direct current magnetic field were investigated. The sucrose solution was chosen with four different concentrations (ω₁=2%、ω₂=5%、ω₃=8%、ω₄=10%). Experiments were performed to see how the supercooling degree and supercooling time of deionized water and sucrose solution changed at different magnetic field intensities. The magnetic field was generated by a pair of Helmholtz coils and evenly distributed. The coils were connected to a direct current electric source, which regulated the intensities of the magnetic field by varying the direct current output. Both temperature and time was recorded during cooling and freezing processes.The results showed that magnetic field could increase the supercooling degree and supercooling time of deionized water, but the influence on the supercooling process of sucrose solution with different concentration presented a multi-extreme phenomenon. Research results could provide a reference for controlling freeze drying process of solution by applying magnetic field.