Applied Mechanics and Materials Vol. 367

Abstract: This paper presents a modified sensor-based online method for mobile robot navigation generating paths in dynamic environments. The core of the navigation algorithm is based on the velocity obstacle avoidance method and the guidance-based tracking algorithm. A fuzzy decision maker is designed to combine the two mentioned algorithms intelligently. Hence the robot will be able to decide intelligently in various situations when facing the moving obstacles and moving target. A noble noise cancellation algorithm using Neural Network is designed to navigate the robot in an uncertain dynamic environment safely. The results show that the robot can track a moving target while maneuvering safely in dynamic environment and avoids stationary and moving obstacles.

Abstract: Traditional MPPT control strategy by hill climbing searching for wind power generation system (WPGS) dependent on wind turbines parameters, the oscillation around maximum power point (MPP) was serious. A new variable step perturbation MPPT was presented based on fuzzy control, the variable perturb step was determined with the power characteristic curves point slope, the control system was described with fuzzy language for maximum power capture, the principle of MPPT was analyzed and the variable step method was adopted with fuzzy control, the simulation result shows that this advanced control strategy could improve tracking speed, enhance the stability and the oscillation around maximum power point reduced.

Abstract: Traditional MPPT control strategy for variable speed wind turbine was dependent on turbines parameters, the algorithm was difficulty in realize system. A new MPPT based on fuzzy control was presented to improve the efficiency of wind power generation system. This MPPT control strategy adjusts the proportion coefficient of power curve according to the operation states and change perturb step by power characteristic point slop, the power characteristic of wind turbine was analyzed and the strategy of dynamic power curve tracking mode was described, with fuzzy controller designed for this MPPT tracking, the tracking speed was improved, the oscillation around MPP was reduced, the control performance confirmed by MATLAB simulation.

Abstract: This paper provides a multi-mode Microwave Control Combination (MCC) for InSAR system, where the center frequency is F0 with 800 MHz bandwidth, and the size is smaller than 355mm×480mm×155mm. A special InSAR system is introduced with finite baseline between antennas, gets the equal baseline longer by the way of MCC fast switch and makes the channel phrase satisfy the special InSAR system demand. In the MCC design, isolation between antenna channels, high-power and fast channel switch of the system are considered firstly, which are very important in finite airborne space for this InSAR system. The combination system can be changed to three working modes with different configuration but same external interface. This MCC can support average power 400w and peak power 4000w, achieve isolation between radiation channels more than 48dB and channel switch time less than 10μs.

Abstract: To solve the strong coupling and nonlinear of switched reluctance motor (SRM) used in the Electric valve ,we use a fuzzy compound PID control method, and apply it to the switched reluctance motors speed control system.The simulation applys that this method combines the advantages of fuzzy control and PID control and is well applied to non-linears object.Based on the theory, we design the core to the outer loops speed feedback and inner current loops feedback system in TMS320F28335,and describe the specific hardware and software structure, morely verify the feasibilitys test. The theory can solve the problem that the traditional PID cannot meet the variation of the parameter from the electric valve.

Abstract: For an Unmanned Aerial Vehicle (UAV) formation in leader-follower mode, considering the relative position relationship between neighbor vehicles in the formation, an elastic distance vector is proposed. The dynamic equations of a flight speed adaptive UAV formation are established using the elastic distance vector we proposed. The state feedback controller is designed. Simulation results show that the controller can be used to control the follower vehicles to follow the leader vehicle maneuvering effectively and keep the desired formation well, most importantly, the relative distance between neighbor vehicles in the formation is adapted to the changes of flight speed.

Abstract: The use of wireless technology in industrial automation offers a number of potential benefits, from the obvious cost reduction brought about by the elimination of wiring to the availability of better plant information, improved productivity and better asset management. However, its practical implementation faces a number of challenges: lack of a universally agreed standard, security, noisy environment, reliability. Since there is no IEEE standard for using wireless technology in industrial automation it is not possible to use the conventional industrial automation system. We also need better transmission rate for reliable communication. In this paper we proposed an industrial automation system based on wireless multi hop network using FPGA. The multi hop network will provide the reliable communication to central control unit and FPGA will provide the reconfigurable high speed data communication. The design is implemented in Xilinx Spartan 3E FAGA kit and results shows that it will be the solution for future industrial automation problems.

Abstract: The walking procedure of the human on slope terrain was captured with a high-speed video camera. The geometrical configurations and motion postures of the human walking on slope terrain were analyzed from the high-speed photographs. Based on the biological observation, a dynamic model was put forward to aid the design of the exoskeleton robot. The hip angle, knee angle, hip moment and knee moment of the exoskeleton robot during walking on slope terrain were shown in figures. The results would provide some theoretical and practical references for the biomimetic design of the exoskeleton robot. This work may provide the basic theory in developing the structural design of the exoskeleton robot to help old people. Besides, it provides an important reference to study the other exoskeleton robots.

Abstract: As Reduction Cell Monitor with Dangerous and Complicated Environment, also the Monitor Parameters was Various, so, the Technique of Reduction Cell Monitor with Manipulator was Proposed. Mathematical Models of Manipulator was Constructed, Fuzzy Compensation Control Strategy was Introduced into this Controlled Plant, with Adaptive Law Combined with Fuzzy Control. the Simulation Result Shows this Control Strategy was Suitable for Reduction Cell Monitor with Good Trajectory Tracking Ability, the Friction was Compensated and the Robust Control Feature Realized.

Abstract: This paper studies the vehicle rollover warning based on the vehicle running state parameters which are easy for collecting. By taking advantages of neural network and support vector machine, this paper analyzes the probabilities of the vehicle rollover in the scenario of single lane change and establishes a warning model which could predict the rollover 0.4 seconds in advance for a particular type of vehicle. According to the validation experiments on Ve-DYNA which is a vehicle dynamic simulation software, the results validate the warning models good performance with the maximum error as 0.04 second and no missing cases which indicates its validity for rollover warning.