Applied Mechanics and Materials Vols. 397-400

Abstract: A kind of intelligent EOD manipulator with five DOF has been designed against the EOD sites with the complicated cases and many obstacles unstructured. In this paper a general solution for the intelligent EOD manipulator with five DOF has been summarized, and a system analysis based on the following five parts has been performed further: Design for structure of the hand, design for structure of the wrist, design for structure of the arm, design for body of the manipulator, design for the hydraulic driving system. In view of the above, utilizing software such as CATIA and AUTOCAD, etc, a relative three-dimensional solid model has been modeled in the design to improve it in efficiency and quality, accordingly, and shorting development period for the intelligent EOD manipulator with five DOF.

Abstract: The rigid robotic manipulators is used in the mining industry more and more widely. An adaptive robust control algorithm of robotic manipulators based on radial basis function neural network (RBFNN) is proposed by the paper. Neural network controller is used to adaptive learn and compensate the unknown system, approach errors as disturbance are eliminated by robust controller. The weight adaptive laws on-line based on Lyapunov theory is designed. The robust controller was proposed based on H theory. Above these assured the stability of the whole system, and L2 gain also was less than the index. This control scheme possesses great control accuracy and dynamic function. The simulation results show that the presented neural network control algorithm is effective.

Abstract: A rapid quality detection system for micro hole fabricated by electrochemical machining (ECM) is proposed by studying on the optical features of micro hole. The edge of micro hole is detected exactly with the digital image processing techniques, such as, the middle value filter, the threshold value transformation, and so on. The least square circle fit arithmetic and the new roundness measurement algorithm are synthetically used in the processing of geometric feature recognition of micro holes. The practical results prove that the method with exact conclusion and high precision can satisfy the quality inspection requirement of micro holes fabricated by ECM.

Abstract: This paper presents a vision-based curve-shaped seam tracking system. The measurement of the curve trajectory is based on a camera that is installed ahead of the end effector of the robot. Effective image processing method is designed to extract the feature points of the curve. Then a fuzzy controller is proposed to control the position of the robot to track the curve. To improve the performance of the controller, a self-tuning mechanism is added to the controller. Finally, experiments are fully conducted to verify the effectiveness of the proposed method.

Abstract: Control of an underactuated manipulator by fuzzy control method is investigated in this paper. The joint angular errors are directly feedbacked to the inputs of the fuzzy system. The MIMO fuzzy controller is decoupled into sub SISO systems for simplification of the design of the system. Numerical simulation for the position control of a planar was presented for verification of the proposed method.

Abstract: A concept of equivalence classes of texture pattern is put forward according to the visual consistency between the rotation texture and the flip texture. An improved texture spectrum descriptor (iTS) is proposed based on the equivalence classes. The iTS depicts the grayscale variation pattern of the pixels in the image neighbour domain and denotes the texture content of an image with a histogram of texture spectrum. Compared with the basic texture spectrum descriptor (TS), local binary pattern (LBP) and Shis local binary pattern (sLBP), iTS has best precision in the image retrieval experiments. The iTS has stronger ability to describle the texture and more adapt to the image rotation transformation.

Abstract: When a true color image is enhanced, the same hue should be kept and the useful details should be strengthened in the image enhanced. According to the imaging principle, wavelet illumination-reflection method is proposed. Firstly, true color image is transformed from RGB space to HSV space. Secondly, the saturation is attenuated by CLAHE. Thirdly, the value is decomposed into illumination and reflection by wavelet illumination-reflection model. The details of the reflection are strengthened. The dynamic range of the illumination is reduced in order to enhance the image. Experiments and analysis show that the enhancement algorithm based on wavelet illumination-reflection model is obviously better than multi-scales Retinexs with color restoration (MSRCR).

Abstract: Solutions to interval linear equations is a fundamental problem in interval analysis. Many different forms of solutions have been defined, but the relationship between various solutions are rarely discussed. In this paper, we propose an algorithm to change system parameters, which can make the tolerance-control solution to become a tolerance solution or control solution of the new system.

Abstract: Input shaping is an effective method for suppressing residual vibration of flexible system. In this paper, the design processes of Zero Vibration (ZV), Zero Vibration and Derivative (ZVD) shapers are deduced. Based on the idea of the robustness input shaper, the Multi-stage Optimal Arbitrary Time-delay Filter (MOATF) is proposed. The proposed control method is implemented on the second-order linear time-invariant system. Simulation results show that the residual vibration can be reduced effectively and the proposed method have great robustness in system parameter uncertainty.

Abstract: The forward kinematics of manipulator was studied to analyze the positive position of the novel 2UPS-RPU parallel mechanism with series connection inputs. With the restrict condition of the lengths of three actuated limbs as constraint conditions, the constrained equations were established, and the four nonlinear equations were obtained to solve forward positional problems of the mechanism. Based on the elimination method, a two-dimensional equation is obtained by eliminating the four-dimensional equation. The search method based on the least square method of the MATLAB software was utilized to analyze forward position of 2UPS-RPU parallel mechanism. The results of numerical verification showed that through this method all forward solutions can be found which are basically coincident with the inverse ones, and the little error was caused by the accumulating calculation error. An error model was established based on differential theory and kinematics equations .This model simplified the installation error as the manufacturing error. Finally the error value was obtained by MATLAB ,which proved the error model was correct.