THE MOTION OF A PARTICLE ON A WAVY SURFACE DURING ITS TRANSLATIONAL CIRCULAR OSCILLATIONS IN HORIZONTAL PLANES

The rough plane is a universal structural element of many machines and devices for sifting and separation of parts of technological material. The motion of particles on the horizontal plane, which performs oscillating rectilinear or circular motion, is the most studied. A wavy surface with a sinusoidal cross-sectional line as a working surface will significantly change the trajectories of their motion. The mathematical description of such a motion will change accordingly. The sliding of a particle in a plane will be a partial case of sliding on a wavy surface when the amplitude of the sinusoid is equal to zero. When the wavy surface oscillates and all its points describe circles, the motion of the technological material changes significantly. The regularities of the motion of material particles on such a surface during its circular translational oscillations in the horizontal planes are investigated in the article. Differential equations of relative particle displacement are compiled and solved by numerical methods. The trajectories of the particle sliding on the surface and the graphs of its reaction are constructed. A partial case of a surface is a plane, and the sliding trajectory of a particle is a circle. An analytical expression to determine its radius is found. During circular oscillations of a wavy linear surface with a cross section in the form of a sinusoid relative trajectory of a particle after stabilization of the motion can be closed or periodic spatial curves. To avoid the breakaway of the particle from the surface, the oscillation mode should be set, which takes into account the shape of the surface and the kinematic parameters of oscillations. With the diameter of the circle, which is described by all points of the surface during its oscillation, is equal to the period of the sinusoid, the trajectory of the relative motion of the particle can be a periodic curve. In this case, the particle moves in a direction close to the transverse, overcoming depressions and ridges. In other cases, the trajectory is a closed spatial curve, the horizontal projection of which is close to a circle. The found analytical dependencies allow determining the influence of structural and technological parameters of the surface on the trajectory of the particle.

Improved ORB-SLAM2 Algorithm Based on Information Entropy and Image Sharpening Adjustment

Simultaneous Localization and Mapping (SLAM) has become a research hotspot in the field of robots in recent years. However, most visual SLAM systems are based on static assumptions which ignored motion effects. If image sequences are not rich in texture information or the camera rotates at a large angle, SLAM system will fail to locate and map. To solve these problems, this paper proposes an improved ORB-SLAM2 algorithm based on information entropy and sharpening processing. The information entropy corresponding to the segmented image block is calculated, and the entropy threshold is determined by the adaptive algorithm of image entropy threshold, and then the image block which is smaller than the information entropy threshold is sharpened. The experimental results show that compared with the ORB-SLAM2 system, the relative trajectory error decreases by 36.1% and the absolute trajectory error decreases by 45.1% compared with ORB-SLAM2. Although these indicators are greatly improved, the processing time is not greatly increased. To some extent, the algorithm solves the problem of system localization and mapping failure caused by camera large angle rotation and insufficient image texture information.