Applied Mechanics and Materials Vols. 220-223

Abstract: With central air-conditioning ventilation pipe cleaning as the research object,a teleoperation system of duct cleaning robot is designed and realized. The framework and function structure of the system are given and a remote control software of duct cleaning robot is developed based on VC.With the help of this system, operators can observate and remote operate the robot in real time and dynamically by making use of 3-D virtual environment and remote video monitor system.

Abstract: The process of tobacco-redrying has the characteristics of lagging, uncertainty and being nonlinear, so it is unable to satisfy every performance target only by using the traditional PID controlling method. In response to this reality, this paper, by using the fuzzy inference ability of fuzzy control, proposes a fuzzy PID based control scheme to achieve the online adjustment of the PID parameters in tobacco-redrying process and to make them in the required range. Simulation results show that the controller can effectively control the process of tobacco-redrying.

Abstract: Abstract. Based on fractional nonlinear stable theorem, backstepping approach for designing controller is extended to fractional order chaotic system. The controller is designed to synchronize fractional order Newton-Leipnik chaotic system via the backstepping approach. Numerical simulation certifies effectiveness of the approach.

Abstract: The basic role of the STATCOM are continuous and rapid control of reactive power, fast response, issued or absorb reactive power to control the transmission system it is connected to the node voltage, inhibition of harmonic pollution, reduce line loss. The development of STATCOM is to solve the problem of voltage stability and effective means, is the main development direction of DFACTS technology. According to the direct current control method to design compensation device, emphatically introduces the device main circuit design step and process, and use MATLAB software simulation, the feasibility of the design is proved.

Abstract: In view of the backward present rescue technique for small-caliber deep well, a kind of multifunctional rescue robot is designed, which is composed of a manipulator, a rescue mechanism, an anchorage mechanism, and a set of oxygen supply equipment. Owing to the different postures of the fallen person, the clasp arm of rescue mechanism needs to adjust itself to obtain an ideal rescue orientation in the narrow deep well. Furthermore, the clasp arm bears much more weight when it clasp and fix the fallen person. So, the optimal design about the clasp arm is studied. Meanwhile, based on SolidWorks software, the stress analyses for the designed clasp arm with loads have been finished. Results show that the performance of the optimal designed clasp arm is perfect, which make sure that the rescue robot is capable of carrying out complicated rescue.

Abstract: PID control is adopted in traditional DC speed regulating system. In start process the current super adjustment value is big. When adding load perturbation and voltage perturbation suddenly, its dynamic state function will be decended. Aimming at this problem, a kind of improved system was put forward. The speed modulator used fuzzy PID controller, according to e and ec, the parameters of the modulator can be modified on line. The current modulator adopted integral separable PID control method. The simulation results indicated that the improved system has better dynamic state function and anti- Rao function. Particularly the start current wave closes to the ideal rectangle wave more. So the responding speed of the system can be sped.

Abstract: Development of integrated hand-foot function is the inevitable choice for the practical application of multi-legged robots. In this paper, a new type of robot which has the structure of four-legged walking robot based on hand-foot-integration is introduced. The image system is installed in the body of the robot, which is used to direct the robot to complete grabbing object. Kinematics relations of grasping states of robot are described. The inverse kinematic is analyzed in details. Firstly, the structure of the robot is introduced. Secondly, the kinematics relation of serial manipulator with grasping function is researched. Finally, the inverse kinematics of robot in grasping object is obtained. The relevant formula is deduced in this paper, and the formula expression is given. The analysis process is last verified through a numerical example. The model can be used for motion control of robot.

Abstract: Considering of the highly nonlinear, time-variable and complex dynamics and the easy variance of hydrogenerator set system’s structure and parameters, a new selt-tuning control approach for hydrogenerator set system based on the learning characteristic of neural network and the function approximation ability of the wavelet analysis is studied. The selt-tuning control system consists of two wavelet neural networks, one realizes active identification and another control for hydrogenerator set. Theory and simulation results show that it is valid not only to the litter dynamic condition of hydrogenerator set systems, but also to the big dynamic condition, and it is more effective improve the dynamic and stationary performance than those based on neural networks.

Abstract: The mounting process is the key factor of the placement efficiency, it is also important for the improvement of the efficiency of whole production line and decrease of the cost. This paper analyzed the mounting process of the Chip Shooter machine, applied the PSO algorithm, constructed the corresponding coding system, proposed the corresponding particle update mechanism, introduced the partially matched crossover idea of the genetic algorithm into the PSO algorithm, and designed the new re-scheduling method of feeder position assignment to optimize the position assignment of feeders and the pickup and placement sequence of components, thus improved the placement efficiency. After comparing the results before and after the simulation test for selected 8 pieces of PCB, the average efficiency of this algorithm is 7.09% higher than genetic algorithm method that is based on sort encoding. The experimental result shows that, this algorithm is more efficiency on the improvement placement efficiency and decrease of the placement time for the chip shooter machine.

Abstract: The coal-rock interface recognition is one of the critical automated technologies in the fully mechanized mining face. The poor working conditions underground result in the seriously polluted edge information of the coal-rock interface, which affects the positioning precision of the shearer drum. The Gaussian filter parameters and the high-low thresholds are difficult to select in the traditional Canny algorithm, which causes the information loss of gradual edge and the phenomenon of false edge. Consequently, this paper presents an improved Canny edge detection algorithm, which adopts the adaptive median filtering algorithm to calculate the thresholds of Canny algorithm according to the grayscale mean and variance mean. This algorithm can protect the image edge details better and can restrain the blurred image edge. Experimental results show that this algorithm has improved the edge extraction effect under the case of noise interference and improved the detection precision and accuracy of the coal-rock image effectively.