Applied Mechanics and Materials Vol. 470

Abstract: Li-ion battery becomes an important development direction because of energy shortage and environmental pollution. The electrode is the main part of Li-ion battery, which has the important influence to the performance, cycle life and the capacity of the battery. So, it is necessary that we should accurately detect the surface defects of the electrode. The paper provides a detection approach based on industrial camera and image processing software HALCON. The machine vision technology is used to detect defects of the electrode, and the high-performance software HALCON to process and analyze the acquired image. The combination of software and hardware can improve the efficiency of detection.

Abstract: The environment of automated warehouse is complex. Path collision exists conflict between intelligent robot with unknown obstacles and intelligent mobile-robot, increasing the difficulty in multiple mobile robots path planning.To solve the problem, firstly working environmental model is established with traffic rules method and the grid method. Then the whole system adopts the idea of hierarchical cooperation for dynamic local and global path planning.By simulation this method is suitable for dynamic environment with known and unknown obstacles and effectively solve the problem of path planning for multiple mobile robots in automated warehouse.

Abstract: Magnetorheological valve offers several advantages such as controllability, small in size and no moving part during operation. Thus, many researchers are working on developing an actuator based on this valve. However, this actuator required feedback system to improve it precision. This research is focusing on developing of machine vision based positioning system for MRF actuator. Image processing algorithms coded using Matlab software and directly connect to MRF valve controller. As a result, the system shows a fast response with processing time only 0.6 millisecond, system resolution is 0.1 millimeter and finally repeatability is 0.01. As a conclusion, the machine vision system are applicable for MRF actuator positioning system. This study is significant in order to developing a low cost and robust positioning system.

Abstract: In this paper, a novel method used for Fabry-Perot cavity length's demodulation in high-speed and large scope measurement was proposed. Principle of the method is based on uniqueness of intensity of multiple wavelengths in the scope of Fabry-Perot vibration. This technique offers flexibility of selecting incident wave length and enhances the scope of demodulation of cavity length, compared with that popular triple wave length demodulation. In experiment, multi-wavelength demodulation is demonstrated for measurement of cavity length varying from 110um to 115um and the strain resolution was higher than 0.1um.

Abstract: As the structure of parallel robot is special in general mechanical and electrical systems, its forward kinematics needs to be solved by nonlinear equations. In this paper, for the issue that numerical iterative method requires complex mathematical derivation and programming, and is sensitive to the initial value, a Neuro-fuzzy system is proposed for solving forward kinematics model of parallel robot. Meanwhile, inverse kinematics is used for training database, knowledge representation ability of fuzzy theory and self-learning ability of neural network are combined to overcome the shortcomings that neural network cannot express human language and fuzzy system do not have self-learning ability. In addition, training and generation efficiency of the model can also be improved by reducing the input dimension reasonably. Simulation results have been showed that, in the premise of efficiency, accuracy of forward kinematics model using Neuro-fuzzy system is better than Newton-Raphson iterative method, and has better versatility.

Abstract: These days, research of multiple robots, which has distributed function and maximize their total ability have been frequently observed in the field of rescue robots or soccer robots tournament called ROBOCUP^{[- [}. This shows the rapidly growing need of more sophisticated multiple robots which are more dependable compared to function-integrated single robot.

Abstract: Abstract: Based on the particularity analysis of coal mine accidents and fire occurred, a rescue robot is designed for coal mine and fire rescue. This robot adopts four tracks composite drive mechanism with front and rear machine hinged, and has good climbing, obstacle capability, the ground adaptability, mechanical properties, waterproof, fireproof, explosion-proof and other functions. It carries oxygen, food, lighting, water, self-help equipment and first-aid medicines to achieve effective relief.

Abstract: This paper presents the construction scheme of the monitoring and control device for pneumatic rock drilling machine. The system composition，design and functions of the device are described. The gas pressure control, data acquisition, data analysis and storage automation have been achieved though the electric proportional technology, PLC technology and Forcecontrol 7.0 configuration software. The device is characterized by remote monitoring and control functions, possesses a favorable man-machine interface system.

Abstract: In order to improve the efficiency and reduce the vibration of Palletizing Robot, a new optimal trajectory planning algorithm is proposed. This algorithm is applied to the trajectory planning of Palletizing manipulators. The S-shape acceleration and deceleration curve is adopted to interpolate joint position sequences. Considering constraints of joint velocities, accelerations and jerks, the traveling time of the manipulator is minimized. The joint interpolation confined by deviation is used to approximate the straight path, and the deviation is decreased significantly by adding only small number of knots. Traveling time is solved by using quintic polynomial programming strategy between the knots, and then time-jerk optimal trajectories which satisfy constraints are planned. The results show that the method can avoid the problem of manipulator singular points and improve the palletize efficiency.

Abstract: Vacuum altitude simulator (VAS) is the key component of the hardware in the loop simulation (HILS) of the aircraft control system. Due to the compressibility of the air and the nonlinearity of the exhaust capacity of the vacuum pump, it is difficult to get a good performance with normal linear controller. In this paper, the nonlinear mathematical model of the system is established. A feedback linearization controller is developed based on the model. To handle the uncertain nonlinear dynamics, the integral control is introduced. Experiments indicate that the proposed controller can effectively improve the stability and the dynamic response of the system.