Applied Mechanics and Materials Vol. 415

Abstract: The follow-up control of concrete pump truck is in order to solve the problem that whole boom follows the movement of boom end under the artificial traction. Focus on real-time detection of boom end azimuth change and inverse kinematic problems of redundant boom system, two-axis gravitational accelerometer is used to detect azimuthal variation of boom end, and the best motion trajectory of boom is determined by solving constrained nonlinear optimization function which takes minimum displacement distance of barycentre for the whole boom as the optimization goal. At last, relative azimuth and translation of boom end, rotation of boom are solved together to make translation and rotation of boom being synchronization. In this way to ensure whole boom follows the artificial traction in theory. In order to verify the discussion above, matlab is used to simulate several different working conditions for the follow-up control of boom.

Abstract: On the voice development platform of Microsoft Speech SDK, speech recognition and speech synthesis modules based on command control mode is built in this paper. Ethernet-based remote voice control system of intelligent flexible manufacturing cell is developed for machine tools and industrial robots. This paper designs an intelligent voice control system based on LabVIEW development environment, which realizes the human-machine voice interaction of flexible manufacturing cell and remote voice control. Experimental studies have shown that intelligent voice control system has high speech recognition rate and system reliability in a relatively quiet environment.

Abstract: Since 1985 when the first use of robot in surgery fields, the interest and the amount of research in surgical robots have been increase significantly. Various surgical robot systems have been developed, and many design models have been proposed. This paper discusses the development of surgical robot design and touches some design and control characteristics which are useful for the research in the field. The paper also provides the recent trends in the field and discusses some commercial surgical robots.

Abstract: Since 1985 when the first appear of robots in surgery field, the interest and the amount of research in surgical robots have been increase significantly. We study in this paper the kinematics of a 6dof surgical robot by determining Denavit-Hartenberg parameters using simple approach supported by robotic toolbox. We describe in details the forward kinematics using the D-H parameters, the successful build of the robot was verified by plotting 3D model for the robot in two positions.

Abstract: This paper studies complex nonlinear dynamic behaviors of a woodpecker robot system which can only operate in the presence of friction as it relies on combined impacts and jamming. The woodpecker robot can periodically move without any drives and controls based on self-excited vibration principle. The whole time histories of the dynamic parameter simulations in successive periods indicate that the robot is able to achieve cyclical, stable passive movement.

Abstract: The paper presents study on energy gain increase of the solar collectors equipped with automatic system which serves for the purpose of changing inclination of the collectors according to the sun ecliptic. The system effectiveness is compared with fixed collectors energy gain.

Abstract: This paper researches optimal end guidance law about homing UAV. After building mathematic model, simulation results show that optimal end guidance law (OEGL) attacking fixed targets is superior to constant coefficient proportion guidance law (CCPGL).

Abstract: Urbanization construction requirements of smart grid,and distribution automation is the foundation of smart grid.Because of its own characteristics of the rural power grid, the construction of distribution network is not the same of city construction. This paper from the rural development trend and its characteristics, analysis of the function of rural distribution automation system, and put forward the suitable for rural distribution automation mode from the aspects of main station system,substation,distribution terminal,communication system and feeder automation of several.

Abstract: The Delta robot with the custom built eye in hand CMOS camera is successfully controlled to walk along a PCB trace that is visually feedback. The trace, that is used to demonstrate the performance of the system, contains not only smooth but also right angle paths. However, the overall working accuracy is still within two and a half millimeters as the probe is staying on the trace all the way. The elliptic convolution scanning is proposed to determine the walking direction from an acquired image. The major and minor axes of the elliptic mask are designed to fit the walking direction and the width of the trace respectively. In this way, the elliptic mask, that is best sit on the trace in image space, indicates the direction the robot should walk. The custom built vision system acquires and processes image at 30 fps. The walking command is then sent via TCP/UDP to the Delta robots controller which is run at a much higher servo rate (2000 Hz). The probe unit is designed and built to verify the working accuracy of the proposed system.