Papers by Author: Gang Feng Liu

Abstract: To move efficiently in an unknown environment, a mobile robot must use observations taken by various sensors to detect obstacles. This paper describes a new approach to detect obstacles for serpentine robot. It captures the image sequence and analyzed the optical flow modules to estimate the deepness of the scene. This avoids one or higher order differential in the traditional optical flow calculation. The data of ultrasonic sensor and attitude transducer sensor are fused into the algorithm to improve the real-time capability and the robustness. The detecting results are presented by fuzzy diagrams which is concise and convenient. Indoor and outdoor experimental results demonstrate that this method can provide useful and comprehensive environment perception for the robot.

Abstract: A novel mine disaster searching robot is designed in order to increase the searching capability in a mine disaster. The dynamics of the novel mine searching robot is mainly studied. The kinematics is set up based on the joint location restriction and then the dynamic model is built by Newton-Euler method. The tractive force and slip of tracks of the mine searching robot is analyzed when moving on the different ground. A theoretic reference is provided for distinguishing the terrain parameters experienced by the mine searching robot and for robot motion planning and control.

Abstract: A FEM-numerical simulation system is developed to simulate the process of rotary draw bending of tube. The emphasis is to discuss some factors such as tube materials, bending moment of fan-shaped die, pushing force of sliding slot and tube relative bending radius which have an effect on tube bending quality. The quality parameters of ovality, thinning ratio and thickening ratio are the same as the measurement values in the practical production. Some improved methods are put forward to according to the simulation results. The experiment shows that the simulation system can forecast accurately the deformation in the process of tube bending, so the production manufacturing cost decreases greatly.

Abstract: The numerical simulation method is used to solve the problems of pipe bending manufacturing such as die with fine cracks, ovality of pipe. The fan-shaped die is welded with steel plate in circle and rib in radial direction by the analysis of structural deformation. The optimal design is provided with ovality of pipe as object variable and sliding slot dimensions as design variables. Compared with experiential shape groove of slot, ovality of optimized slot decreases about 10.5% in average. It greatly reduced the production cost using computer simulation method to replace a lot of experiment improving tube-bending production.