Applied Mechanics and Materials Vols. 494-495

Abstract: This paper carried on the classifications of amphibious robots at home and abroad presently, which mainly includes the legged amphibious robot, snake-like amphibious robot, spherical amphibious robot and wheel-propeller integrated amphibious robot. It introduces the development process of each type of amphibious robot and puts forward the defects of each type of amphibious robot and difficult problems in the research process.

Abstract: Coal mine is a dangerous place in which many fatal factors menace miners' life. When some disasters occur, it may be very dangerous for rescuers to go into mine tunnels to search survivors. So developing the coal mine detecting and rescue robot for mine rescue has a very important meaning. In this paper, a system of explosion-proof detecting robot is presented. The structure design methods of robot have been discussed in detail, including robot body, computer control system, explosion-proof and waterproof design of systems, mobile mechanism design and software design. Finally the application results are given.

Abstract: The flapping wing flying robot is an imitation of a bird or insect like a new type of flying robots, the paper briefly outlines the current domestic and international research in the field of flapping wing flight mechanism of the progress made flapping wing flying robot design. On this basis, the current course of the study were discussed key technical issues, combined with the current research, flapping wing aircraft for the future development prospects.

Abstract: Since Small Unmanned Helicopter flight attitude control process has strong time-varying characteristics, and there are random disturbances, the conventional control methods with unchanged parameters are often unworkable. An on-line adaptive ADRC control system is designed in this paper. An on-line adaptive ADRC system implements a simultaneous on-line tuning of ADRC rules and output scale of ADRC control system. The flight experiment showed that the proposed adaptive ADRC system provides quicker response, smaller overshoot, higher precision, robustness and adaptive ability. It satisfies the needs of autonomous flight.

Abstract: One hypersonic aircraft nonlinear observer and controller are designed synthetically to solve the part of actuator failure problem. The research model is developed based on a SISO output feedback nonlinear unobservered minimum phase system. filter is adopted to reconstruct state vectors, adaptive control law is designed to guarantee the system boundedness. Dynamic surface control is employed strategy to eliminate the explosion of terms by introducing a series of first order filters to obtain the differentiation of the virtual control inputs. Both theory analysis and simulation verification show the simpleness and effective of this method.

Abstract: For the demand of coal mine flood accident emergency rescue, in this paper, a mine-used underwater explosion-proof robot is presented and the composition structure and design method of the robot are discussed in detail. This device combines mechanical design, underwater power plant, intelligent control, energy supply of mobile device and mine explosion-proof technology. It can cruise underwater with the changeable depth, orientation and speed. It can move flexibly and can collect underwater and overwater images. Practical application shows that this equipment is suitable for the emergency rescue and disaster relief work after the coal mine flood.

Abstract: Aiming at the time delay of telecommunication problem and the real-time correction problem in path planning, this paper presents a telerobot system based on augmented reality technology and force feedback technology. The core is the dynamic integration of live streaming video of the remote scene and virtual robot, and applying the force feedback sensing and control technologies to solve robotic arms path planning problem. Experiment proves that the system can basically solve the delay problem and make up for the limitation of merely relying on virtual reality simulation technology.

Abstract: By using multilayer neural networks and dynamic surface backstepping,one new robust adaptive control design method is proposed for one hypersonic aircraft (HSA) uncertain MIMO nonaffine block control system. We adopt dynamic surface control strategy to eliminate the explosion of terms by introducing a series of first order filters to obtain the differentiation of the virtual control inputs. multi-layers nerual network adjust function to compensate the influence from the uncertain, and design the robust terms to solve the problem from approach error. The stability analysis and simulations demonstrate the good performance of the controller. Nonlinear six-degree-of-freedom (6-DOF) numerical simulation results for a HSA model are presented to demonstrate the effectiveness of the proposed method.

Abstract: The nature of control mechanisms that allow humans to keep balance has been one of the main research focuses for many years. The dynamic model of human balance keeping is given. And the Proportional-Integral-Derivative (PID) controller based on Fruit Fly Optimization Algorithm (FOA) is presented to keep static body standing up right. By optimizing and tuning, the best PID controller parameters can be obtained. Simulation results are included to demonstrate the efficacy and feasibility of the proposed methods.

Abstract: The pitch channel output tracking of a kind of ummanned aerial vehicle over-load control system was designed based on second order sliding mode control theory. Output-redefinition approach was adopted to resolve the non-minimum phase problem between rudder angle and overload output of ummanned aerial vehicle system, second order sliding mode control was used to eliminate chatter, and guaranteed the tracing of original system output. The observer was designed to deal with the not complete state measurable system. The stability and robustness were verified by the simulations results.