Advanced Engineering Forum Vols. 2-3

Abstract: This paper presents development of a cleaning robot for the sludge in sulfuric acid tank. The sulfuric acid is made during SOx capturing process, well known as flue gas desulfurization, and it has very strong corrosion characteristics. The cloud of micro dust in the flue gas settles as sediment in the acid tank. Because the fume produced by the sulfuric acid is very toxic, the sulfate sludge must be removed not by a worker but by an underwater robot having anti-corrosion capability. For this purpose, an underwater robot is developed with anti corrosion materials for its elements such as robot body, drive shaft, wheel, waterproofing seal, power cable, slurry pumping tube, etc. A series of experiments of sludge cleaning shows that the developed robot works well in the real sulfuric acid tank.

Abstract: The wireless control method is implemented between NEU BCI-II brain-computer interface and DR05 humanoid hand in this paper. A user interface with a set of real-time analysis and control methods is developed based on Lab VIEW platform. Wavelet analysis method is embedded in this framework, which extracts the character of alpha rhythm. 86.7% correct rate is achieved by using this framework to make humanoid hand do six gestures. Electronic disturbance of finger motor is eliminated by adopting wireless method.

Abstract: An assisted and secure interaction system is developed for 500kV EHV Power Transmission Line Inspection Robot. The challenges on amenity, assistance and security of interactive operation are emphasized. Due to the unpredictable line structure and the incomplete sensory, the robot is controlled in remote and locally autonomous mode. Based on the Finite State Machine (FSM), the automatic crossing interface is designed for protecting operators from memorizing redundancy sequences. Measures for friendly operating and avoiding errors are concerned. The architectures for fully autonomous are also engaged. The lab and field experiments validated the interaction system reliable and easy to use.

Abstract: In this Paper, Propose a Pedestrian Detection Method that Based on Adaboost Algorithm and Pedestrian Shape Features Integration. First According to the Collected Pedestrian True, False Sample, Selected the Characteristics of the Extended Class Haar, Adopt Adaboost Algorithm Training Get Pedestrian Classifier to Split the Initial Candidate Region of All Pedestrians in the Image. in this Paper, Propose an Adaptive Threshold Weight Update Method, Significantly Reduced the Number of the Characteristics of Strong Classifier, Optimize the Classifier Structure, Reduce the Complexity of the Algorithm; Meanwhile, the Online Update Detector, Improving the Reliability of the Detector. Pedestrian Leg Have Strong Vertical Edge Symmetry Characteristic so that Extracted the Vertical Edge Detection in the Initial Candidate Region, According to the Symmetry Determine the Vertical Axis of Symmetry, Combined with the Morphological Characteristics of Pedestrians to Determine the Width and Height Characteristics of the Pedestrian, to Determine the Pedestrian Candidate Region, Finally, Put a Further Validation to the Pedestrian Candidate Region.

Abstract: This research aims at the problem in the vibration signal monitoring area that few of systems based on wireless sensing technology are developed to deal with the problem of vibration specially. The paper presents a system based on wireless acceleration transducer network, which integrated the function of vibrating signal acquisition and processing. The system is tested in vibration bench. The operation of the system is simple and intuitive. Researchers could achieve the operation of collecting and analyzing signal, setting the parameter of the sensor nodes and monitoring the state of the network. The presented system provides users friendly interface to make it easy to do some researches about vibration signal acquisition, processing and analysis. Additionally, the system provides some program interfaces, with which users can easily do secondary development work and perfect the system.

Abstract: A microprocessor as the core of the digital controller has become one of the major features AC speed regulation system in modern. Based on DSP as the core of the speed control system，it can realize complex algorithm. At the same time, it can achieve the diagnosis of system’s fault, and the self-setting of parameters controlled, etc. Thus it can make the motor speed control system have higher performance. This paper introduces the motor speed control system which consists of three DSP. This system is able to adjust two Frequency conversion motor. Division of work to the DSP is according to the function of DSP. Inter-DSP makes use of dual-port RAM to exchange data and communicate. They work together to achieve and improve the performance of the control system.

Abstract: This paper presents a wireless inertial measurement system to analyze three- dimensional (3D) pitching movement of baseball. Developed wireless inertial measurement unit (WIMU) sizes 43.7×45.2×25.7 [mm], weighs 48 [g] including Lithium-Ion battery, and consists of two types of 3D accelerometers, two types of 3D gyroscopes, release sensor, a microcontroller (MCU), flash memory, and an RF module. Synchronization of start and completion of measurement procedure for plural WIMUs are wirelessly controlled by a host computer. Three-dimensional pitching form of upper limb and trunk is produced by the numerical integration of the acceleration and angular velocity. The experimental results show that 3D posture, trajectory and joint torque in overhand and sidearm throwing are successfully estimated using the proposed system.

Abstract: Present Measurement and test system for aeroengine rig testing is primarily based on DSP and PC104 industrial computer, which have the disadvantages of large volume, high power consumption, single function and less-generic. So it is a valuable job to promote the performance of the system employing the latest methods of collaborative design and embedded hardware and software technology. For designing of the new type improved aeroengine test system, a hardware and software co-design strategy is employed. After a thorough trade-off analysis and comparison among different hardware and software systems, an embedded aeroengine test system based on ARM and FPGA is designed, by using S3C2440A CPU with ARM920T core and FPGA from Xilinx as fundamental hardware data acquisition and process platform, using Linux as real time operating system. The data transmission between ARM and FPGA take the path of dual-port RAM, during which the read-write operation is coordinated by means of interruption. The system uses U-Boot to initialize hardware and load operating system. FPGA is used as foreside of data acquisition system, which sampling parameter setting is loaded by reading configuration file during start-up and read into inner register by SPI bus. Data is exported from flash-chip of test system by means of U-disk or network, and analyzed in PC equipped with specialized software. Strong post-proceeding capacity for multi parameters of aeroengine rig testing can be realized, especially for dynamic signal analysis in time domain, frequency domain. Because of the use of the new platform, a big promotion has been achieved. I) the capacity of data processing increases by 15%. II) The new system allows numbers of the sampling channels to double. III) Abundant functions of software can realize more professional, intelligent and generic tests. IV) Sampling frequencies increases by 20%, meeting the demand of monitoring dynamic random signals such as noise and vibration, on fluctuating pressure with wide frequency band. The embedded aeroengine test system based on ARM and FPGA is successful and the prototype is manufactured and tested. It is found that the performance of the new system is promoted significantly, which shows the effectiveness and reliability of the method employed.

Abstract: According to the two indices of inspection accuracy and inspection speed, a planar contour primitive recognition method of thin sheet part dimensional inspection system based on curvature and HOUGH transform is proposed. A contour point classification algorithm based on neighborhood values is developed, and a curvature threshold method is selected to filter the contour points, and a projection height method is selected to distinguish the property of the primitive and classify the contour points, and the straight line primitive and arc primitive segmentation and merging algorithms are constructed respectively by HOUGH transform. The inspection accuracy and inspection speed of the proposed method are compared and analyzed by contrast experiments between the proposed method and four dominant point detection methods such as Chung & Tsai method and so on. The dominant point detection ability of the proposed method is tested by a simulation planar contour which includes all kinds of dominant points. The experimental results indicate that the proposed method can recognize primitives exactly, the inspection speed is fast and the universality is good.

Abstract: Key technologies of dimensional inspection system of thin sheet part based on machine vision are investigated, and an entire machine vision inspection system is developed. A cad information-based line scanning step adaptive optimization method used for image grabbing of inspected part is proposed. A rectangle lens subpixel edge detection method based on cubic spline interpolation used for edge detection is advanced. A planar contour primitive recognition method based on curvature and HOUGH transform used for image recognition is raised. The inspection accuracy of the inspection system can reach to 1μm, and the inspection time can satisfy the requirements of on-line real-time inspection, so the inspection system is feasible.