Applied Mechanics and Materials Vols. 325-326

Abstract: The principle of Jini technology is introduced briefly first. The approach of introducing Jini technology into robot networking is presented and corresponding design is given out. Protocols used in Jini Network to perform robot remote manipulation were analyzed. Several main technologies for the implementation of Jini-based robot networking, including the usage of Jini Technology Starter Kit were discussed in detail. In the end, taking improved Siasun robot as an example, an implement method of the design scheme is described and the validity of the approach is shown by experiments.

Abstract: This paper deals with the solving of collision detection in area of robotics. Collisions in robotics can cause damaging of robotic device, manipulated objects or in the worst case also the death of human. This is the reason why collision detection and collision avoidance is very important task and nowadays also the modern research is focused on finding of appropriate solving methods and tools. In the paper is described the theoretical introduction, practical solution and also real application.

Abstract: Evaluation of 9-DOF biped robots based on designated smooth and stable trajectories with two added toes is a challenging problem that is the focus of this paper. Simultaneously rotation of feet and toes is considered, which allows the robot to walk more efficiently and like a human being. A desired trajectory for the lower body is designed to increase the stability margin. This obtained by fitting proper polynomials at appropriate break points. Then, the upper body motion is planned based on the Zero Moment Point (ZMP) criterion to provide a stable motion for the biped robot. Next, dynamics equations are obtained for both single support phase (SSP) and double support phase (DSP). On the other hand, two biped robots, which one accompanied by toes, are also compared. Simulation results reveal that the biped robots with toes have better stability margin, less power consumption and more vertical reaction force.

Abstract: The troweling of wall space is an essential decorative process and the development of wall-troweling robots, which are expected to release labors from the burdensome pargeting tasks, is growing to be a promising sector in todays architectural industry. In this paper, a static analysis is conducted for the key components of troweling disk and vertical guiderail, based on the proposed virtual prototype of wall-troweling robots. The stress distribution across these components provides a sound basis for the structural design. With the finite element analysis module of SolidWorks package, the paper investigates the modal characteristics of the key components operating under practical conditions. The research effort in this paper is contributive to the design and manufacturing of wall-troweling robots.

Abstract: The logical choice of stator voltage vector is the key for induction motor direct torque control. This paper proposes a stator voltage vector selection rule based on wiring, according to analyzing the affection caused by the electrical wiring on motor stator voltage amplitude and phase. The rules are tested in direct torque control system. Experimental results show the correctness of the theoretical analysis.

Abstract: An important development trend toward power electronic technology was the integration and modularization. A key concept was Power Electronic Building Blocks (PEBB). Converters which were PEBB-based had lots of advantages, such as cost reduced, easy to reconfigure, reliability enhanced and so on. PEBB-based converters wound operation with distributed digital control, and a cascaded ring topology was the dominant solution for communication network. The characteristics of the ring topology determined the synchronization mechanism was a key technology. This paper addressed two synchronization mechanisms for ring topology network, and analyzed the factors which impact the synchronization precision. At last, aimed at the practice application, this paper compared their strongpoint with each other.

Abstract: This paper studies the robust fault-tolerant control problem against actuator faults and parameter uncertainty for High-Speed Trains. First, models of actuator faults and parameter uncertainty are presented. Then a robust fault-tolerant tracking controller design method is developed. This method is based on the mixed Linear Matrix Inequalities (LMI)/Lyapunov stability theory. Tracking control examples and simulations are given, and the response curves of the fault system and the system with the fault-tolerant tracking controller are presented.

Abstract: National safe production guarantee is one of kernel on troubling area of production, power system is a critical field too, since its higher requirement on electric supply and potential dangerousness.It has an important significance how to find potential faults as soon as possible for production and lifes security, the research of fault adaptive detection system based on higher noisy environment is a method improving the condition in this field. This paper indicates the effectiveness of this algorithm through discusing its realization procedure and simulation practice effect. The traditional cepstrum analysis is based on FFT, this algorithm improves it through getting inversion about CZT, fault characteristic curves is good at stability and reliability, it is a bright spot of this paper.

Abstract: Design of controlled PC turning tool was presented in paper. Tool placed in the guides was driving using the stepper motor and a screw cooperating with the nut joined with tool. To control of the tool was used PC with the motor control interface connected to the LPT port. Mounted in holder tool allows machining shape surface using the universal lathe

Abstract: Research team of Prof. Shigeki TOYAMA has developed at Tokyo University of A&T a new type of ultrasonic motor. Its spherical shape confer 2 or 3 degree of freedom in a single joint which makes it suitable for mechatronics field. In order to control the Spherical Ultrasonic Motor a new method by using Hall sensors and a residual magnetic field induced in rotor was implemented. Present paper is dealing with the command and the control of a SUM by using Hall elements and a residual magnetic field induced in rotor. In this way the approach of controlling problem is by using the inverse kinematics and neuronal networks.