Applied Mechanics and Materials Vols. 195-196

Abstract: This paper presents the use of a fuzzy logic controller combined with Machine Vision to improve the accuracy to identify ball and speed to approaching ball in Robot Soccer. The conventional robot control consists of methods for path generation and path following. When a robot moves away the desired track, it must return immediately, and while doing so, the obstacle avoidance behavior and the effectiveness of such a path are not guaranteed. So, motion control is a difficult task, especially in real time and high speed control. To achieve good control performance and requirements for timeliness, accuracy to identify and approach the ball, the paper designs a sugeno fuzzy control system, which could make robot complete the whole football performance, including finding, approaching and shooting ball. At the end of the paper, to validate the proposed fuzzy algorithm, the experiment on METALFIGHTER-2 humanoid robot has been run, which showed that the fuzzy controller is effectiveness and robustness.

Abstract: Traditionally a gear shift with clutch and synchronizer control makes the synchronisation phase unnecessarily long torque gap time. Based on the benefit of a single shaft parallel hybrid electric bus (PHEV), fast gear shifting and reducing the shafts speed oscillation can be realized by controlling the electric machine with Model Predictive Control (MPC ) method instead of sliding the clutch and synchronizer to a torque-free state in the transmission. Detailed mathematical models of different driveline states are presented and to improve driving comfort. Theoretical and simulation analysis results are compared with experimental ones from the road experiment in equal conditions in order to prove the validity of the gear shifting control strategy.

Abstract: In order to enhance the innervations fidelity of simulators, an adaptive nonlinear controller is developed, which guarantees parallel mechanisms closed loop system global asymptotical stability and the convergence of posture tracking error in Cartesian space. The problem of rapid tracking under the condition of the wide range, nonlinear and variable load is solved. After the adaptive nonlinear controller is actually applied to the hexapod parallel mechanisms of simulator, the dynamic-static capabilities of motion system is tested by amplitude-frequency response and posture precision. The experimental results show that the static precision improves ten times and system output amplitude increase and the phase lag reduce with respect to the same input signal in Cartesian space in comparison with the traditional proportional and derivative controlling method in joint space. Therefore the adaptive nonlinear controller can effectively improve the dynamic-static response performance of the hexapod parallel mechanisms of simulators in Cartesian space.

Abstract: In this paper a cellular automata model is proposed to describe driver behavior at a single-lane roundabout. Two truncated Gaussian distributions are used to model heterogeneous and inconsistent driver behavior. Numerical results show that our method is feasible and valid.

Abstract: How to ensure the health of pile, which is a problem that engineers study much. The principle of back stress wave method is used to detect the health of pile. It studies the synergetic technology of BP algorithm and genetic algorithm. The paper analyses the performance of the synergetic model and applies the model in the area of pile's health detection. Experimental results show that the method is better than the traditional methods.

Abstract: The dynamic load characteristics have significant impact on the power flow, transient stability computation, voltage stability calculation of the power system, and so on. Noticing that traditional mechanism loads model has difficulty in precisely describing the dynamic characteristics of synthetic load, this paper presents a non-mechanism dynamic load model based on Extreme Learning Machine (ELM). The Power Fault Recorder and Measurement System (PFRMS) is used to obtain data for load modeling. Take voltage and real/reactive power with different time delay as inputs, and take real/reactive power as output, train the ELM using the samples formed by fault data, the real power model and reactive power model are established respectively. The number of hidden layer nodes which has impact on the ELM model is also discussed. Dynamic simulation experiment is conducted at power system dynamic simulation laboratory. The simulation result shows that the ELM load model is simple and flexible, its parameters are easy to be identified. The ELM load model can describe the dynamic load characteristics accurately.

Abstract: To analyze N-Queens problem in permutation space, this paper defines isomorphic operations of permutation to dihedral group D₄. With these operations to find elements within an orbit, two operations on orbits are also defined to generate new orbit from existing ones. Orbit signature is proposed to uniquely identify different orbits on orbit space. A search algorithm based on orbit signature is presented, and finally the effectiveness of the algorithm is illustrated by an example.

Abstract: Aiming at existed problems in traditional lamps and monitoring system, an intelligent street lamp control system based on AT89S52 as the control unit is put forward. It consists of keyboard input, clock testing and display circuit. The system uses constant current source to drive the lamps with dimming capabilities, and makes use of photoresistor to test the brightness of environment. It also alarms by the way of light and sound when the lamp fail to light. In this paper, we design software and hardware of the street lamp control system, and realize the design concept the method and the process of intelligent street lamp control system based on the single chip microcomputer.

Abstract: Based on the analyzing inertia weight of the standard particle swarm optimization (PSO) algorithm, an improved PSO algorithm is presented. Convergence condition of PSO is obtained through solving and analyzing the differential equation. By the experiments of four Benchmark function, the results show the performance of S-PSO improved more clearly than the standard PSO and random inertia weight PSO. Theoretical analysis and simulation experiments show that the S-PSO is efficient and feasible.

Abstract: Satellite system design is a process involving various branches of knowledge, in which the designer usually needs to tradeoff many essentials and takes remarkable time. While multidisciplinary design optimization (MDO) method provides an effective approach for complicated system design, it seems especially suitable for such kind design purpose. By applying MDO in satellite system design, the efficiency of design can be expected to be improved and powerful technical supports can be obtained, which means better performance, faster design process and lower cost. According to the Resource satellite mission, width of ground cover and ground resolution are taken as the performance measurement, which combined with total mass of satellite is accounted in the optimization objective in system level. The design variables and constraints of the problem are dealt with disciplines or subsystems such as GNC, power, structure and thermal control. Corresponding analysis modules close to practical engineering are modeled. A MDO program system is developed by integrating collaborative optimization (CO) methods in iSIGHT. The result shows that the comprehensive objective can be improved, which also indicates MDO is feasible and efficient to solve the spacecraft design problem. The technology can be consulted for further research work.