Applied Mechanics and Materials Vols. 446-447

Abstract: The article considers the system of an automatic control, that includes a linear controller and an interval control object. Using the coefficient estimations of quality factors the methodology of analysis of robust quality coefficients is developed that ensures maximum degree of stability and allowable system accuracy. The coefficient method of analysis of quality factors constitutes the basis of the method. On the basis of the obtained methods the bundled software RASILS is developed. A numerical illustration is presented in this paper.

Abstract: An Incremental Structure of Speed-Tracking Driver Model was Developed by Using PID and Fuzzy Compound Control, and the Actual Driver's Handling Features and the Application of Hardware-in-Loop Simulation had been Fully Considered in this Model. Operation Delay, Shifting Coordination, Anti-Saturation of Integral, Zero-Speed Correction and Pre-Compensation Control were Proposed. the merits and demerits were Studied with Different Control Methods. the Results Show that Better Overshoot and Steady Accuracy are Obtained by PID and Fuzzy Control, and it’s the Several Correction Modules that make the Driver Model more Approximate to Real Driving Characteristics and more Conducive to the Practical Application of Hardware-in-Loop Simulation.

Abstract: Fast steering mirror (FSM) is one of the key devices in the light detection and ranging (LIDAR) system and higher resolution and broader operating bandwidth are necessary. In this paper, we present a FSM based on the voice coil actuators (VCA), with a large scanning angle, although, the scanning linearity and bandwidth of the FSM are limited by the presence of mechanical resonance. A mathematical model is proposed to investigate the dynamic behavior of the FSM and based on this system model, a closed-loop controller is introduced to reject the mechanical resonances of the FSM. With the proposed controller, the non-linearity of 50Hz is reduces from 14.58% to 2.13% and the bandwidth enhances from 1244.1rad/s to 2073.5rad/s. The testing result shows that the performance of the FSM is greatly improved.

Abstract: This paper puts forward a control scheme based on LIN bus for automotive anti-pinch power window. The article first gives an overview of the structure and function of the system, and then describes the design of the hardware and software in detail. We choose a 16-bit Freescale chip MC9S12VR64 which has a mixed signal processing performance as the microcontroller. The anti-pinch algorithm is mainly based on the Hall signal, and the network communications use LIN bus. Finally, through trial and error to amend the anti-pinch algorithm, we get a satisfactory result.

Abstract: In this paper, the predictive control of a class of networked control systems (NCSs) with time delay is investigated. Under the assumptions of forward completeness of the open-loop system and the existence of a stabilizing controller, state feedback and output feedback controllers are designed which achieves global asymptotic stability. Lastly, an illustrative example is given to demonstrate the effectiveness of the proposed results.

Abstract: This paper is about a robot that would be able to solve mazes or labyrinths and look for the exit. The project will utilize the PIC microcontroller. This is like those in the micromouse competitions since it resembles a mouse put in a labyrinth searching for its cheese. This would also implement the Wall Follower algorithm to solve the maze and will use proximity sensors to detect the walls of the labyrinth. The robot would be as small as possible as to make its navigation of the maze more efficient in terms of turning left or right, or even doing a full U-turn since a bulky robot would have a hard time navigating the turns in the maze. This project would also require an 8x8-tiled square maze to effectively apply the algorithm and to have a test labyrinth to work on.

Abstract: One of the predominant applications of the theories and principles of robotics is in industrial automation particularly in automotive manufacturing. This paper explores some mini-projects related to industrial automation that will help students and even robotics enthusiasts understand the kinematics of each manipulator. These projects can be as simple as following a straight line to as complex as adding machine vision and online intelligence to the robotics manipulator.

Abstract: In this paper a new olfactory mobile robot application is proposed where dynamic olfaction system is used on a mobile robot in order to acquire the gas/odour property of objects. Olfaction system with two dynamic gas/odour sensors can be moved in 14180o' type="#_x0000_t75"> in order to be able to detect source in many directions. We examine the problem of deciding when, how and where the gas/odour sensor should be activated by planning for active perception use behavior-based architecture. Simple form of cooperation between Fuzzy Logic control and Particle Swarm Optimization (PSO) is implemented in the navigation strategies. The real experiments performed on a simple mobile robot equipped with dynamic gas/odour sensor and three infra-red sensor. The initial result shows that olfactory mobile robot that is capable of locating the source of a simulated chemical leak in an environment while detecting and avoiding obstacles along its path.

Abstract: An oil spill is discharge of fluid petroleum such as crude oil or its by-product derivations such as diesel and gasoline on the water surface. In this paper, a numerical model of the oil spill has been introduced as a simulation of releasing oil on the sea surface. Meantime, the influence of sea waves and wind has been considered and shown. Moreover, a swarm of robots is engaged in order to track the spreading boundaries of the slicked oil, so that a novel schedule of robot locomotion is presented, based on the online sharing information in the flock network. Therefore, the swarm of robots tracks the oil spill margins intelligently and successfully.

Abstract: This paper proposes a novel design method of the compliance controller for robot manipulators. The neurofuzzy compliance controller (NFCC) proposed herein is an algorithm designed to automatically determine the suitable compliance for a given task or environment. The scheme dose not require any priori knowledge on a robot manipulator dynamics, a manipulator controller and an environment, and thus, it can be easily applied to the control of any robot manipulator systems. Through a series of experiments, effectiveness of the algorithm has been verified.