Applied Mechanics and Materials Vols. 397-400

Abstract: As the traditional boundary detection algorithms usually ignore the boundary width, this paper proposed a boundary detection algorithm based on power control to adjust the edge width. The algorithm did not need to establish the 2-neighbor graph which with higher time and space is complex. The algorithm detected boundary only by analyzing the connectivity of the rings, and did not require any information about node location. Simulation results show that the algorithm can detect the boundary nodes exactly.

Abstract: Hysteresis hinders the effective use of piezoelectric smart materials in sensors and actuators. This paper proposes a hybrid model that can precisely portray hysteresis in piezoelectric actuators, which is constructed by a preisach operator with a piecewise uniform density function. Then, the corresponding inverse model for hysteresis is developed. It studies online recursive identification of hysteresis drift. Based on the obtained models, a method for simultaneous compensation of the hysteresis of piezoelectric actuator is applied to the control of system nonlinearities. Simulation and experimental results based on an IPMC actuator are provided to illustrate the proposed approach. The result verified the validity of the model and effectiveness of the controller.

Abstract: For the problems that the street running state and information was difficult to feedback and reasonable control, we apply the topology model to the street lighting management system, and complete the optimization control in this paper. Using the fuzzy control theory to handle the road signals, the intelligent lighting region controller integrates the thyristor chopper with the autotransformer technology, carries out the soft start and slow slope control to the street light, and realizes automatic voltage and energy saving. At finally, the system can realize the energy-saving control and intelligent, networked management of city street lamp.

Abstract: Based on the idea of dissimilar redundant design, a control structure with the fault-tolerant control function even the UAV lateral control loop that is under the state of the aileron fault is researched. The results show that the classical control can not maintain the required yaw, while the dissimilar redundant control can maintain it. The methods is simple, but can effectively avoid the flight accidents caused by aileron fault, so that to improve the safety and reliability of the flight.

Abstract: The paper focuses on the cart-pole system by using fuzzy control, fuzzy mamdan control theory, the fuzzy controller perturbation amplitude simulation and fine-tuning of different linear and nonlinear model. It applicates MATLAB soft which function is so powerful, suitable for a wide range of engineering software system for vehicle simulation intelligent control. And then adjusting fuzzy controller on PID control system, fuzzy control system, the cart-pole system can provide reliable data for our real life and production in the future.

Abstract: A higher order sliding mode control design is considered for a class of uncertain nonlinear systems with unknown bounded uncertainties. This method can be viewed as the finite time stabilization based on integral sliding mode control and geometric homogeneity. Based on the Lyapunov theory, the system trajectory is guaranteed to approach the sliding surface. Only one adaptive gain parameter is required. The stability and the robustness of the control system are proven. Numerical experiments illustrate the satisfactory performance of the proposed control methodology.

Abstract: Elderly people are unable to be rescued promptly when they fall down from the chair or bed, and may be injured seriously. A fall detection system for chair based on ZigBee was investigated in this paper for this problem. Gotten the fallen information by multi-sensor data acquisition and detection technology, uploaded to PC or Android terminals through ZigBee-WiFi gateway, and sent the information to mobile phone in SMS through GSM module. The adaptive weighted fusion algorithm was used to improve the accuracy of monitoring-data. The results show that one who take the system can get the alert message instantly by PC, Android terminals and mobile phones, so it has the potential to satisfy the application of the elderly peoples care problem.

Abstract: It is a difficult task to get enough numbers of highly accurate control points for projector calibration in line structured light vision system. A new projector calibration method based on binocular stereo vision is proposed in this paper. Two cameras calibration can be done usingtraditional camera calibration method and they composed a binocular stereo vision. In projector calibration procedure, a planar template was located at several different positions in front of the stereo vision system. Two cameras captured the stripe images in each position simultaneously. Every center points of the laser stripe can be used as control points of the projector plane. The 3D coordinate of the stripe center points can be obtained through binocular stereo vision principle easily. So the light plane can be calculated quickly. Experiments were carried out and the result shows that the proposed method is flexible and stable.

Abstract: In order to investigate the maximum stairs-climbing capability of the six-track robot with four swing arms and the centroid position control in the climbing process, firstly, the isolated steps and successive stairs in reality environments were simplified into a model that composed of horizontal planes and vertical planes; afterward, the robots centroid distribution was analyzed, the step-climbing methods and processes were given, and the relation equations of the step height, the arms swing angles and the main track evaluation angle were founded; Lastly, the conditions of the maximum step height and the conditions of climbing successive stairs using the slope-climbing method was deduced. Using the parameters of CUMT-III type coal mine exploring robot prototype, the relation curves of the step height and the robot elevation angle was drawn when the rear swing arms spread, and the 3D relation graphs of the robot elevation angle, rear arms swing angles and the step height were drawn, when the swing arms took some specific swing angles. The maximum theoretical step height of the prototype were obtained, which were compared with the test results in laboratory. This paper will provide theoretical basis for centroid position control in steps and stairs climbing process.

Abstract: An intelligent system with automatic tracking function based on FPGA and binocular vision was designed. The system can be divided into five parts, and they are the image acquisition and processing module, moving target detection module, motion control module, moving target tracking module, and the depth information computing module. The basic design theory and the structure of each component were analyzed from software and hardware.