Applied Mechanics and Materials Vols. 397-400

Abstract: For a warehousing company's requirements, a four-DOF parallel palletizing robot is designed and a new method used to calculate the main structure and analyze kinematics is proposed. The palletizing trajectory is planned according to industrial sites requirements. Finally, based on the results of structural analysis, the workspace is simulated by Matlab. The results suggest that the robot designed is fully content with the requirements of industrial field.

Abstract: Various hopping robots use the different methods to release energy for hop. The use of fuel with oxidant can provide enough potential energy for hopping by combustion. The fuel control system for combustion type hopping robot is presented. Maximum power of explosion can be obtained for high hop by mixing, fuel & oxidant in correct amount of ratio. The feedback fuel control system is presented which adjusts the ratio of fuel and oxidant to generate the desired pressure inside cylinder by controlling the fuel & oxidant pressures individually. The mixing process of fuel and oxidant takes place inside the cylinder. A simulation model of system in SIMULINK is established by using MATLAB software.

Abstract: To solve the instability of track robot in the process of climbing obstacles, a track robot with passive rocker was designed and a three-dimensional model of track robot was developed by Unigraphics NX in this paper. Furthermore, the kinematic analysis was made for obstacle performance of the track robot. The virtual prototype model of the track robot with passive rocker was set up by using the tracked vehicle subsystem of multi-body dynamics simulation software RecurDyn and kinematics simulation for this robot was made. The simulation results verify the feasibility of the machine and provide some theoretical guidance for developing the obstacle performance of track robot.

Abstract: The design of an autonomous navigation robot is introduced. The robot system is used a SOC chip, which is used SPARC V8 architecture supporting the DSP instruction, integrated a hardware multiplier, a five level water treatment, a variety of bus and peripherals. The robot system includes stereo vision module, distance measurement module and motor drive module. It can achieve some functions such as real-time signal processing, target search, multi-window tracking and communication.

Abstract: A new type all-terrain tracked water carrier is customized for water transportation with complicated terrains such as marsh, lake or dessert etc. The vehicle is designed based on combination of all-terrain tracked chassis and water storage tank. The tracked chassis provides the ferrying possibility, while tank structure and the thickness of heat-insulating layer is the key for successful ferrying. To further research the ferrying characteristics, the floatability and initial stability are analyzed. Then to optimize design of the vehicle, mathematic model of buoyancy center, reserve buoyancy and initial stability is established. At last, the field ferrying test is done. The results show the vehicle can ferry successfully in watered areas with a speed of 5.19km/h when fully loaded.

Abstract: Traditional INS/GPS integrated system would degrade sharply when GPS outages, a new method is proposed in this paper, which is a NN(Neural Network) aided KF (Kalman Filter) integration method.The structure of the method was shown summarily, the NN and KF design flow was discussed briefly, test experimentations have been done to prove the availability of the proposed method. Primary test results have shown that the proposed method can reduce the navigation solution during GPS outages, by about 70%, in comparison with INS stand alone results in GPS outage of 60 seconds.

Abstract: The research programs and positioning methods of precise positioning technology of the Mine locomotive unmanned systems were discussed in this paper, It implements the positioning of three-dimensional spatial coordinates, and analyses the experiment of positioning calculation and positioning deviation. Experimental results show that the new technique and method can improve precision positioning accuracy above 5%, and provide reliable security protection for the Mine locomotive unmanned systems.

Abstract: In INS/GPS system, the changing of initial conditions and the quality of the data can affect the convergence of the conventional Kalman filter algorithm. Sage-Husa adaptive filter algorithm is adopted in the INS/GPS system in this paper. The effecting of the forgetting factor to the improved Sage-Husa adaptive filter algorithm is studied and the simulation results show that when the forgetting factor taken near 0.97, the adaptive filtering result is best, the stability of the system is guaranteed and the convergent speed of error can be reduced.

Abstract: The fault detection and exclusion (FDE) algorithm played a very important role in the Wide Area Augmentation System (WAAS). When the WAAS was not available, the FDE algorithm could provide the monitored information for the navigation position solution. It could autonomously provide the integrity monitoring for the position solution, which it had a capability to detect and prevent a positioning failure that affected the navigation. An optimizing evaluation of estimation method was employed in detecting and isolating the outlying measurements for the satellite ephemeris error and the satellite clock error, which could assess the integrity risk in the WAAS. Therefore this algorithm could provide more precise integrity parameters of the satellite ephemeris error and clock error, which the method is more suitable at the master station for engineering application about the satellite.

Abstract: A novel electrode structure is designed. Through the analysis of the temperature distribution of the gas sensor, the micro-structure gas sensor owns the best temperature distribution when the heating width, measuring electrode width and electrode space are designed to be 50, 20 and 500 μm, respectively. Through the simulation of the magnetic field, the new electrode can eliminate the interference from magnetic field on the measurement signal, which is beneficial to improve the sensor performance.