RESUMEN
In industrial production, workers need to wear safety helmets at all times. However, due to different lighting, viewing angles, and the tendency of people to block each other, the precision of target detection is not high enough. Aiming at this problem, a real-time detection of helmets was achieved by improving the YOLOv5 algorithm. This algorithm introduces the lightweight network structure FasterNet, which uses partial convolution as the main operator to reduce the amount of calculations and parameters of the network; the boundary regression loss function Wise-IoU loss function with a dynamic focusing mechanism replaces the original loss function in YOLOv5; finally, the CBAM attention mechanism is introduced to obtain global context information and improve the detection ability of small targets. The experimental results show that the parameters of the improved YOLOv5 model are reduced by 12.68%, the computational amount is reduced by 10.8%, the mAP is increased from 88.3 to 92.3%, and the inference time is reduced by 81.5%, which is better than the performance of the original model and can detect helmet wearing effectively and in real time.
RESUMEN
To improve the calibration accuracy of a vision measurement system, a checkerboard corner detection method based on linear fitting of the checkerboard local contour is proposed. First, by binarization and morphological dilation of the checkerboard image, the coordinates of two adjacent vertices of adjacent dark squares are obtained; the midpoint of the two vertices is taken as the reference point; the reference dotted array is obtained; and the Zernike moment subpixel method is used to obtain the checkerboard contour data points in the neighborhood of each reference point. Finally, the contour points are classified according to the orientation based on the reference points; two intersecting lines are fitted; and the intersection of the two lines is exactly the corner point that we want to find. A camera calibration experiment was conducted on the same group of checkerboard images. The results show that the calibration results of the corner points obtained based on this method are highly consistent with the OpenCV library function method and the MATLAB Toolbox calibration method, and the reprojection error is smaller. At the same time, it is robust to changes in the light source brightness.
RESUMEN
This paper attempts to address the trajectory following control problem of nonholonomic mobile AGV by proposing an improved sliding mode control approach in which, based on the kinematics and attitude deviations established for AGV, the motion characteristics are analyzed and a backstepping sliding mode control with a novel reaching law is designed. This reaching law integrates the merits of the power and exponential reaching laws and promotes the convergence rates of tracking errors. Moreover, with the improved sliding mode controller, the asymptotic stability of tracking deviations can be strictly guaranteed. The simulations have demonstrated the effectiveness and superiority of the proposed approach for mobile AGV.
RESUMEN
Aiming at exploring the material removal mechanism for sapphire using diamond abrasive grains at the microscopic level, this paper modeled and analyzed the microscopic yield behavior of diamond abrasive grains in the FAP grinding process of sapphire. Molecular dynamics were used to simulate the effects of abrasive particle size on the cutting force, potential energy, and temperature in the Newtonian zone during micro-cutting. The effect of different abrasive particle sizes on material removal was analyzed through experiments. The simulation results show that the abrasive particle radius was 12 Å, the micro-cutting force reached more than 3500 nN, while the cutting force with an abrasive particle radius of 8 Å only reached 1000 nN. Moreover, the potential energy, cutting force, and temperature in the Newtonian zone between the sapphire crystal atoms also increased. The results showed that the material removal rate saw a nonlinear increasing trend with the increase in particle sizes, while the surface roughness showed an approximately linear increase. Both of them showed a similar trend. The experimental results lay a theoretical basis for the selection of the lapping process parameters in sapphire.
RESUMEN
To enhance the friction and wear properties of 40Cr steel's surface, CoCrFeMnNi high-entropy alloy (HEA) coatings with various Ti contents were prepared using laser cladding. X-ray diffraction (XRD), scanning electron microscopy (SEM), and energy dispersive spectroscopy (EDS) were used to characterize the phase composition, microstructure, and chemical composition of the samples. The findings demonstrated that the CoCrFeMnNiTix HEA coatings formed a single FCC phase. Fe2Ti, Ni3Ti, and Co2Ti intermetallic compounds were discovered in the coatings when the molar ratio of Ti content was greater than 0.5. The EDS findings indicated that Cr and Co/Ni/Ti were primarily enriched in the dendrite and interdendrite, respectively. Ti addition can effectively enhance the coating's mechanical properties. The hardness test findings showed that when the molar ratio of Ti was 0.75, the coating's microhardness was 511 HV0.5, which was 1.9 times the hardness of the 40Cr (256 HV0.5) substrate and 1.46 times the hardness of the CrCrFeMnNi HEA coating (348 HV0.5). The friction and wear findings demonstrated that the addition of Ti can substantially reduce the coating's friction coefficient and wear rate. The coating's wear resistance was the best when the molar ratio of Ti was 0.75, the friction coefficient was 0.296, and the wear amount was 0.001 g. SEM and 3D morphology test results demonstrated that the coating's wear mechanism changed from adhesive wear and abrasive wear to fatigue wear and abrasive wear with the increase in Ti content.
