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Study of Base Segmenting Algorithm of Substation Equipment Based on 3D Point Cloud
Pengshuai Wang,Pengshuai Wang,Weiying Guo 대한전기학회 2019 Journal of Electrical Engineering & Technology Vol.14 No.1
Segmenting affiliated facilities from the point cloud is the key of 3D identification of the equipment. This paper proposes a method to segment an equipment’s base from the equipment according to the change trend of the horizontally-projected areas of the layers formed by layering the equipment, thereby reducing the workload of manual segmentation of the base and improving the efficiency of intelligent identification of substation equipment. At the same time, the paper improves Iterative Closest Point (ICP) algorithm by using ICP error to jump out early of the iteration process of ICP, to reduce the iteration steps and shorten the matching time. The experimental results show that the identification rate of substation equipment is greatly improved by the base segmenting algorithm. The improved ICP algorithm significantly shortens the identification time, and has little impact on the identification rate.
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Design and analysis of a gait rehabilitation cable robot with pairwise cable arrangement
Lewei Tang,Pengshuai Shi 대한기계학회 2021 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.35 No.7
A new design of gait rehabilitation robot using pairwise cables is proposed for post-stroke patients. Compared to conventional rehabilitation rigid-link robots, cable-driven robots enable alleviating discomfort of patients and relieving potential dangers from rigid robots. Four pairs of cables are connected to two cuffs mounted on a thigh and a shank of the same leg in parallelogram arrangement. Pairwise cable constraints the rotational degree of freedom around the normal of the cable plane in order to limit pathological human gait movement. A detailed mechanical design is illustrated and dynamics model of the gait rehabilitation robot is developed. Two robot configurations (i.e., fully constrained and under-constrained ones) are compared in terms of cable tensions, torque on the knee joint and the cable length. The simulation results reveal that under-constrained robot configuration is more suitable in the application of human gait rehabilitation training.
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Qing Jin,Zehua Bu,Dong-dong Pan,Xiaojie Gao,Pengshuai Yang,Haiyan Li,Zhaofeng Li,Zhenhao Xu 대한토목학회 2023 KSCE Journal of Civil Engineering Vol.27 No.2
To address the problem on grouting control of water inflow disaster in coastal area, a caisson-type grouting experimental system of a single fracture in flowing water under tidal action was developed independently. Through the tide simulation system, the tidal action of different intensity and frequency was effectively described. Tide simulation system, fracture system, grouting system, water supply system and information monitoring system were combined to realize the visualization of the whole grouting process under tidal action. Furthermore, the grouting experiments of a plate fracture under different tidal action were developed and the blocking mechanism under tidal action was revealed. The conclusions were as follow: 1) Under constant water head, the slurry had three typical diffusion patterns, which were circular distribution, double U-shaped distribution and elliptical distribution respectively. 2) Under tidal action, the pressure showed a periodic fluctuation growth, and the growth rate slowed down with the increase of fracture aperture. 3) Strong tidal action would promote the diffusion of and increased the outflow amount of slurry, which was not conducive to grouting. Based on the water inflow treatment project of limestone mine in Guangxi, Through the field grouting tests, the 2# water inflow point was blocked. The research results have a certain reference value for the technology optimization of grouting engineering in coastal areas.
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