Applied Mechanics and Materials Vols. 300-301

Abstract: This paper summarizes the robot moving platform mobile mode, elaborated with emphasis the hybrid mobile platform some research results, analyzes its characteristics and shortcomings, and the hybrid robot moving platform is the future development direction .

Abstract: The paper studies motion path planning problem using improved A* searching algorithm, and implements the movement scenario using mobile robot system. Solving the shortest path problem, Dijkstra algorithm can finds the shortest path to solve the path searching problem. The searching depth is not applicable in certain circumstances to be a disadvantage. The paper proposed improved A* searching algorithm using the intelligent node judgment method, it not only be able to retain the advantages of the traditional A* algorithm but also improve the shortcomings. It programs the on-time motion path in dynamic environment; it also programs the motion path more closed to the best path. Finally, the paper uses multiple strategies to improve the searching motion path to be the best motion path, and compares with the traditional A* algorithm to reduce the searching time.

Abstract: Wireless Sensor Networks have recently been used for environmental monitoring and real time event detection because of their low implementation costs and distributed sensing and processing capabilities. Event detection is a critical issue in wireless sensor networks. Fire detection is used as an example in our event detection system. Algorithms are required to detect fire sensors and measure the environmental parameters (temperature, humidity, light intensity, and Carbon Monoxide) to determine if a fire is present or not. It is urgent to research fire detection techniques that are efficient, convenient and practical. Although there are several works on fire detection using WSNs, sufficient attention has rarely been paid to using fuzzy logic methods. We present a novel approach based on fuzzy logic for multi-sensors data fusion in a wireless sensor network system with a node-sink mobile network structure to detect fire. Through simulation results, it is shown that the proposed innovative fuzzy logic algorithm can improve the reliability and accuracy of sensed information and reduce the rate of false alarm.

Abstract: To get less ripple of output voltage and reduce the inductor current capacity, the multi-channel scheme is a popular structure in the high power converter. By sharing the total current to multi channels, the channel current will be inversely proportional to the number of channels. Normally, the inductor of each channel is proposed to be uniform when the design procedure, and the inductor current of each channels also be supposed to be equal. And, the single current sensor structure will be considered, due to the cost reduction and the designed simplification. However, in real implementation, the inductance of each channels are different, and such kind of difference will cause some unexpected effect when using a single current sensor. To make sure the activity of the circuit as expectation, some non-uniform inductor effects in multi channel converter will be discussed in this paper. First, the measure method of the inductance error ratios in each channel will be proposed in the single current sensor scheme. Then, the unbalance current effect of the non-uniform inductance in the single sensor scheme will be discussed. The simulation results will be provided in this paper, which results will show the inductance measurement workable and the unexpected current obviously.

Abstract: In order to satisfy the requirements on payload ability and maneuverability of the wall-climbing robot, a novel permanent magnetic adhesion system based on the linear Halbach array is designed. The permanent magnetic adhesion system and the wheel locomotion mechanism are employed in the robot system. By static and dynamic force analysis of the robot, design requirements about adhesion system are derived. The optimal dimensions of the mechanism are obtained using numerical modeling and parameter approximation method of first order partial derivative of dependent variables. Finally, the adhesion mechanism has been constructed and the maximum and minimum adhesion forces are measured and compared with numerical simulation and a good agreement is found.

Abstract: The article presents a power detection and prediction system (PDPS) using fusion algorithms to be applied in the on-line power monitoring of the target device. The system contains multiple power detection units, a data integration unit, a target device, a power source and a main controller. Each power detection unit measures the assigned power source on real-time, and uses four current sensors to measure the current variety. We use fusion algorithms to be applied in current and voltage detection. We can calculate the real-time power values according to the estimated values of current and voltage measurement values. The main controller predicts the power loading for each power detection unit using auto-regression algorithm, and calculates the error value between the prediction value and the measurement value for each detection value, and compares the relation value on various condition.

Abstract: The unmanned aerial vehicle (UAV) has the advantage of light weight, small size, and better dynamic performance. Conventional UAVs are not well suited for use in confined spaces, such as small passageways or indoor halls, e.t.c. The multi-rotor copters have the vertical take-off and landing (VTOL) ability for indoor flight. The most popular research topics for multi-rotor copters are Quad-copter and Hexa-copter. The objective of this research is to develop a dynamic model for hexa-rotor aerial robot. The dynamic model of the hexa-rotor aerial robot had been studied in this research. The PID control algorithm was used to control the hexa-copter. We used the Matlab software to help us to tune the PID control parameters for quick response and minimizing the fluctuation. From the simulation results, the hexa-copter could make a stable hovering on the target position and return to the stable hovering position and attitude after one motor or one propeller failure.

Abstract: Pressure-sensitive conductive rubber has been investigated as sensitive material due to its good pressure-resistance characteristics. This paper presents a flexible tactile sensor with new structure. The sensing mechanism is based on body piezoresistive effect of conductive rubber filled by carbon black. To improve the sensor’s flexibility, there is a smart angle design in the arrangement of the wires in lower electrodes layer. Besides, the force model of the sensor has been described. The simulation results indicate the validity of 3-D force measurement of the sensor.

Abstract: The internal high temperature of tire not only reduces the service life of the tire, but also increases fuel consumption. An on-line monitoring system of temperature field in tire is designed. The temperature measurement module of lower computer is made up of temperature measurement network of thermocouple, single chip microcomputer and other modules. The upper computer software is designed under the environment of VC ++, making use of the serial port to realize communication. The functions such as temperature collection, analysis, display and storage capabilities were realized. The system has the advantages of convenient use, reliable operation, solving the difficult problem of obtaining tire actual temperature.

Abstract: In this research, we present a Case-Based Reasoning framework for planning the best path of navigation robot. That is to adopt the combination of the Case-Based Reasoning method and ontology approach to disambiguate the cases in the context. The details of realizing the best path planning of robot by using this architecture was illustrated. Our approach for realizing case-based reasoning implies the representation of metadata characterizations of the features of cases and semantic formalization of these characterizations.