Applied Mechanics and Materials Vols. 336-338

Abstract: Diabetes becomes the third-largest chronic disease after cardiovascular disease and cancer which threatens human health. Insulin injection is the most effective way to treat diabetes, and a lot of research institutions at home and abroad are dedicated to the insulin pumps. Insulin pump belongs to continuous subcutaneous insulin injection system, which can simulate physiological insulin secretion and large doses of delay when the patients are dining. At present, portable open-loop insulin pumps have been put into market. In this paper, the development history and research status-quo of insulin pump and the key technology of the pump are analyzed.

Abstract: In the steer by wire system of vehicle, a joystick can instead of the steering wheel. A control algorithm based on variable steering ratio is developed on the basis of vehicle speed and joystick steering angle. By verifying the control algorithm with the vehicle model from CarSim, it shows that this proposed algorithm can effective carry out steering intention of drivers, which enhance the steer comfort in low speed driving and steer handling in high speed driving and effectively improve the vehicle maneuverability.

Abstract: This paper first introduces the research and development status of Magnetically Controlled Shape Memory Alloy and analysis its application in the vibration energy harvestor; next lists several typical vibration energy harvestors, describes the principle of power generation, power generation, and research of them; then makes a study of the status quo of the MSMA energy acquisition, describes the difficulties finally, challenges and trends faced with the MSMA vibration energy harvestor.

Abstract: Articulated robots are the most common industrial robots for their large workspace and flexibility. However, the existence of joint flexibility makes those robots difficult to achieve high absolute position accuracy. This paper presents a method to identify the joint stiffness of the robot. The basic idea of that method is to get joint stiffness based on Hooks Law through stepping movement of a single joint and calculating the corresponding joint gravity torque of every step. The practicality of that method is verified by experiment and a plan is carried out to compensate the joint flexibility.

Abstract: For a monocular camera-based mobile robot system,we propose the active visual method for robot localization,based on the double freedom pan-tilt.First,the kinematic model of the mobile robot system of monocular vision is given.Secondly,by controlling the pitch and yaw angles of pan-tilt,the camera optical axis always points to the target geometry center in order to solve the field of view problem.Coordinate system relative pose solution method which based on dual quaternion avoids calculating the singularity and improves the positioning accuracy of mobile robots.Finally,according to pan-tilts feedback angles,extrinsic parameters of the camera,the pose and the position of the camera,the position vector and pose vector of the mobile robot are obtained.

Abstract: A single ultrasonic sensor can only measure narrow range and mistakes can happen in the process of gathering information. Multiple ultrasonic sensors applied in intelligent robot, can make up for this defect and obtain reliable and accurate environmental information. So in this paper, aloha robot is taken as the research object, and multiple ultrasonic sensors are installed in the interior of aloha robot for the environmental obstacle information, then aloha robot control the rotation speed of maxon DC motor so as to move forward or backward, and turn left or right.

Abstract: This paper proposes a vision orientation system based on OpenCV to solve the orientation problem that glass curtain wall cleaning robots meet with at work. The system applies edge detection and the Hough transform to the images captured by the monocular camera, then judges whether the robot has reached glass edges according to the results of histogram comparison between the target image and the template image. Finally the system sends corresponding orders to the robot for path selection and orientation.

Abstract: In order to improve the cleaning efficiency of curtain wall, a pneumatic robot is designed. The robot is consists of mobile system, adsorption system and cleaning system. The mobile system is a cross-shaped framework that is driven by the pneumatic system and moves mutually. Vacuum sucker scheme is adopted in the adsorption system. Cleaning brush is driven directly backward and forward by the cylinder. The adsorption and detachment of robot feet sucker, body movement and sequence control of the robot cleaning task are controlled by the PLC. The function that robot can clean glass curtain wall efficiently by the harmony operation is achieved.

Abstract: This paper designs a drive system for a two-wheel differential tracked mobile robot. The system has two control modes: remote control and autonomous control, which needs two drive modes. We use a selection signal sent by the remote controller to realize the switch of two drive modes. Traditional MCU or ARM based PWM control system has poor system accuracy and anti-interference, and is complicated to realize the switch of two drive modes. In response to these issues, this paper presents a control method based on ARM and FPGA. FPGA completes motor drive, motor rotation speed calculation and the switch of two drive modes. ARM is used as an upper controller in the autonomous mode. Experiment proves that the result of our method is achieved quite satisfactorily: PWM signal can be generated accurately and the switch of the drive modes is convenient. The drive system has high reliability and flexibility.

Abstract: Based on the principle of derived CNC, a NC lathe system is redesigned for cutting ship engine pistons which have a non-circular middle-convex and varying oval (NMVO) profile in the skirt. With an attached high-speed linear motor servo unit, a new derived CNC lathe system based on a normal NC lathe system is developed to machine non-circular section. Using this method, the development cost is reduced. A moving magnet voice coil motor is designed as the actuator to provide sufficient stroke and driving force for the cutting. The controller of the derived unit is designed based on digital signal processor (DSP) TMS320F28335, and a method of pre-interpolating data on main computer is employed in the software development. By doing this, the real-time performance of the system is satisfied.