Applied Mechanics and Materials Vols. 373-375

Abstract: In this paper, an automatic tape vulcanizing tank hoisting manipulator is designed to improve the accuracy and the efficiency in tape vulcanization. The hoisting manipulators control system takes Siemens S7-200 PLC as the core. By controlling two frequency converters and a solenoid valve, the hoisting manipulator not only movs along the Y-axis and Z-axis also clamps the vulcanizing mold. In addition, the hoisting manipulator communicates with the vulcanizing tank through PC / PPI bus and the RS232/485 interface port on PLC, achieving linkage production.

Abstract: This paper considers the problem of trajectory deviating for a class of roboticized roadheader. The motion model of roadheader is first established based on the analysis of excavation construction procedure, then the fuzzy control strategy based on dual-modality structure is proposed to realize directional adjustment and forward-walking control. The relationship between steering angle and driving wheel speed and the establishment of fuzzy control model are mainly focused. The experiment results indicate that the control strategy can satisfy the requirements of excavation construction procedure, and the remote control of roadheader can also be conducted. It is shown that the proposed approach can take an important role in few or unattended roadheader working face construction.

Abstract: Gait planning affects stability, motion speed, and joint torque of quadruped robot etc. Also, it is necessary to consider movement parameters of slope walking environment such as the inclination angle, the movement area of feet and so on. The stability criterion on the basis of center of pressure is chosen to analyze the stability during the movement. Based on static balance, the omni-directional walking of quadruped robot on a slope is planned. CFP is set in order to reduce the transition steps. Then the start and end positions of swinging leg and supporting leg is calculated. The process of gait transition is planned to make sure stable and continuous movement. The experiment verifies the validity of the proposed method.

Abstract: The wide application of service robot caused security problems between humans and robots. Through the theoretical analysis and mathematical formula based on the calculation. Designing a novel safe impedance joint mechanism consisting of an inclined link, a slider with rollers, and linear springs is proposed. Analysis the institutions of different friction between rollers and tilt links in the form of organization function at the same time. Using solidworks software to mechanism of 3D modeling, the design of two different partial CAM model, importing ADAMS software and analysis the function, Comparison between simulation data and experimental data consistency, for later used in robot mechanical arm to provide a theoretical basis.

Abstract: Wheel sensor is the basic facility of railway axle counter. The traditional active magnetic steel axle counter method has a disadvantage of low accuracy. For this reason, a high-precision active wheel sensor which sends axle pulse in a fixed position of wheel signal was presented. In addition, double DSP parallel working mode was used to improve the reliability of the system. Firstly, the detection scheme of the system was presented. Then hardware circuit of the wheel sensor was designed with TMS320F2812, and the reliable output of the pulse was realized by using the gate circuit. Finally, software programming was completed based on the hardware design, which mainly includes the wheel signal detection and position calculation for sending axle pulse. The actual operation shows that the system has the advantages of being stable and reliable and has strong resistance to interference, which makes it a high practical value.

Abstract: To detect DNA concentration, a novel fiber optic biosensor based on fluorescence quenching was designed and constructed by using lock-in amplifier for signal measurement. A linear relationship between the relative phase delay Δφ of the sensing membrane and calf thymus DNA (ctDNA) concentration was observed in range from 2.0×10^-9 to 4.0×10^-7 M in the buffer of 5.0 mM Tris-HCl and 50.0 mM NaCl (pH 7.1), and the detection limit was 8.0×10^-10 M. The biosensor has a response time of 65 s and shows good stability and repeatability.

Abstract: A typical Wireless Sensor Network (WSN) only performs the action of sensing the environment, the needs of smart interaction with the environment have led to the emergence of Wireless Sensor and Actuator Network (WSAN). With the presence of actuators, WSAN is heterogeneous, which brings about new challenges that need to be addressed. In this paper, the task assignment of actuators in overlapping area is studied. Firstly, a new utility function is defined, which is the standard to choose the proper action actuators in overlapping area. Then, based on the new utility function, a distributed solution called localized auction method to solve task assignment problem in overlapping area is proposed. Simulation results demonstrate that the proposed auction method can assign tasks to the unique actuator and meet the action completion bound.

Abstract: This paper models the electromagnetic force/torque of a long-stroke magnetically levitated planar motor. Based on the Lorenz force volume integral law and the force/torque superposition principle of rigid body, the electromagnetic force/torque is modeled. Experimenting results indicate the model is consistent with the measured results in sine distribution and sine period, and the errors between the model values and the measured values originate mainly from the measurement system. So this model represents analytically the electromagnetic forces and torques of the planar motor and it can be used to commutate and control the planar motor.

Abstract: In view of the complexity, higher power consumption and other shortcomings of current wireless multimedia sensor networks (WMSN)QoS routing protocol algorithm, this paper proposes the Ant Colony Optimization (ACO) to improve the WMSN routing protocol. First of all, a routing model for multimedia sensor networks QoS was presented and then a routing algorithm (WMSN-ANT) was brought forward, which uses the network restrict condition to update the pheromone concentration. The forward ants (Fant) collects the link bandwidth, delay, packet loss rate and other parameters, along with the elite strategy for the ant system to update the local node of the network state model and the pheromone of each visited node in order to find the best routing under the conditions of multiconstrained QoS. The simulation results show that the algorithm is characterized by the distributed network routing optimization and has better convergence than the traditional QoS routing protocol and can significantly improve the network lifetime.

Abstract: As the different QoS requirements of different businesses in wireless sensor networks, we proposed a QoS routing algorithm-EAQoS. The algorithm built multiple paths to sink node by recording the minimum hops of neighbors to sink. Then data was sent by the path that satisfied its QoS requirements and had enough residual energy. According to the comparisons with the SAR routing algorithm, this algorithm has obvious advantages in providing different services and prolonging the lifetime of network.